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EIO0000000384 10/2010
Modicon M238 Logic
Controller
Programming Guide
10/2010
Courtesy of Steven Engineering, Inc.-230 Ryan Way, South San Francisco, CA 94080-6370-Main Office: (650) 588-9200-Outside Local Area: (800) 258-9200-www.stevenengineering.com
2 EIO0000000384 10/2010

The information provided in this documentation contains general descriptions and/or
technical characteristics of the performance of the products contained herein. This
documentation is not intended as a substitute for and is not to be used for
determining suitability or reliability of these products for specific user applications. It
is the duty of any such user or integrator to perform the appropriate and complete
risk analysis, evaluation and testing of the products with respect to the relevant
specific application or use thereof. Neither Schneider Electric nor any of its affiliates
or subsidiaries shall be responsible or liable for misuse of the information contained
herein. If you have any suggestions for improvements or amendments or have found
errors in this publication, please notify us.
No part of this document may be reproduced in any form or by any means, electronic
or mechanical, including photocopying, without express written permission of
Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when
installing and using this product. For reasons of safety and to help ensure
compliance with documented system data, only the manufacturer should perform
repairs to components.
When devices are used for applications with technical safety requirements, the
relevant instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware
products may result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
2010 Schneider Electric. All rights reserved.
EIO0000000384 10/2010 3
Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
About the Book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 About the Modicon M238 Logic Controller . . . . . . . . . . 13
Modicon M238 Logic Controller Devices Overview. . . . . . . . . . . . . . . . . . 13
Chapter 2 How to Configure the Controller . . . . . . . . . . . . . . . . . . . 15
How to Configure the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 3 Libraries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Libraries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Chapter 4 Supported Standard Data Types. . . . . . . . . . . . . . . . . . . 21
Supported Standard Data Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Chapter 5 Memory Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
RAM Memory Organization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Relocation Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Chapter 6 Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Maximum Number of Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Task Configuration Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Task Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
System and Task Watchdogs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Task Priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Default Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Chapter 7 Controller States and Behaviors. . . . . . . . . . . . . . . . . . . 45
7.1 Controller State Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Controller State Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.2 Controller States Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Controller States Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
7.3 State Transitions and System Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Controller States and Output Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Commanding State Transitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Error Detection, Types, and Management . . . . . . . . . . . . . . . . . . . . . . . . 62
Remanent Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4 EIO0000000384 10/2010
Chapter 8 Controller Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Controller Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Managing the M238 Controller Applications . . . . . . . . . . . . . . . . . . . . . . 67
M238 Controller Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
M238 Controller Services. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Chapter 9 M238 Embedded Functions . . . . . . . . . . . . . . . . . . . . . . . 71
HSC Embedded Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
I/O Embedded Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
PTO_PWM Embedded Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Chapter 10 Expansion Modules Configuration. . . . . . . . . . . . . . . . . . 81
Adding Expansion Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Chapter 11 CANopen Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 83
CANopen Interface Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Chapter 12 AS-Interface Configuration . . . . . . . . . . . . . . . . . . . . . . . . 87
Presentation of the AS-Interface V2 Fieldbus . . . . . . . . . . . . . . . . . . . . . 88
General Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Software Setup Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Add an AS-Interface Master Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Configure an AS-Interface Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Add an AS-Interface Slave. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Configure an AS-Interface Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Automatic Addressing of an AS-Interface V2 Slave. . . . . . . . . . . . . . . . . 112
Modification of Slave Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
System Diagnostic in Online Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Programming for the AS-Interface V2 Fieldbus . . . . . . . . . . . . . . . . . . . . 118
Configuration of a Replaced AS-Interface V2 Slave . . . . . . . . . . . . . . . . 120
Chapter 13 Modicon M238 Logic Controller Serial Line
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Serial Lines Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
ASCII Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
SoMachine Network Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Modbus IOScanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Modbus Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Adding a Modem to a Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Chapter 14 499TWD01100 Ethernet/Modbus Gateway. . . . . . . . . . . . 145
Connection and Configuration of the Ethernet Gateway . . . . . . . . . . . . . 145
Chapter 15 Connecting the Modicon M238 Logic Controller to a PC 151
Connecting the Controller to a PC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Chapter 16 Upgrading an M238 Firmware . . . . . . . . . . . . . . . . . . . . . 155
Upgrading Through Serial Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Upgrading Through USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Launching the Exec Loader Wizard. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
EIO0000000384 10/2010 5
Step 1 - Welcome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Step 2 - Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Step 3 - File and Device Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Step 4 - Transfer Progress . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Chapter 17 Modicon M238 Logic Controller - Troubleshooting and
FAQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Frequently Asked Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Appendix A AS-Interface Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
ASI_CheckSlaveBit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
ASI_CmdSetAutoAddressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
ASI_CmdSetDataExchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
ASI_CmdSetOfflineMode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
ASI_MasterStatusCheck . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
ASI_SlaveAddressChange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
ASI_SlaveParameterUpdate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
ASI_SlaveStatusCheck . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
ASI_ReadParameterImage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Appendix B Function and Function Block Representation . . . . . . . 201
Differences Between a Function and a Function Block. . . . . . . . . . . . . . . 202
How to Use a Function or a Function Block in IL Language . . . . . . . . . . . 203
How to Use a Function or a Function Block in ST Language . . . . . . . . . . 206
Appendix C Functions to Get/Set Serial Line Configuration in User
Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
GetSerialConf: Get the Serial Line Configuration . . . . . . . . . . . . . . . . . . . 210
SetSerialConf: Change the Serial Line Configuration . . . . . . . . . . . . . . . . 211
SERIAL_CONF: Structure of the Serial Line Configuration Data Type. . . 213
Appendix D Controller Performance . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Modicon M238 Logic Controller Processing Performance . . . . . . . . . . . . 215
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
6 EIO0000000384 10/2010
EIO0000000384 10/2010 7
Safety Information
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with
the device before trying to install, operate, or maintain it. The following special
messages may appear throughout this documentation or on the equipment to warn
of potential hazards or to call attention to information that clarifies or simplifies a
procedure.
8 EIO0000000384 10/2010
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by
qualified personnel. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of this material.
A qualified person is one who has skills and knowledge related to the construction
and operation of electrical equipment and the installation, and has received safety
training to recognize and avoid the hazards involved.
EIO0000000384 10/2010 9
About the Book
At a Glance
Document Scope
The purpose of this document is to help you to configure your Modicon M238 Logic
Controller.
NOTE: Read and understand this document and all related documents (see page 9)
before installing, operating, or maintaining your Modicon M238 Logic Controller.
Modicon M238 Logic Controller users should read through the entire document to
understand all of its features.
Validity Note
This document has been updated with the release of SoMachine V2.0.
Related Documents
Title of Documentation Reference Number
SoMachine Programming Guide EIO0000000067 (ENG);
EIO0000000069 (FRE);
EIO0000000068 (GER);
EIO0000000071 (SPA);
EIO0000000070 (ITA);
EIO0000000072 (CHS)
Modicon M238 Logic Controller Hardware Guide EIO0000000016 (ENG);
EIO0000000017 (FRE);
EIO0000000018 (GER);
EIO0000000019 (SPA);
EIO0000000020 (ITA);
EIO0000000021 (CHS)
10 EIO0000000384 10/2010
You can download these technical publications and other technical information from
our website at www.schneider-electric.com.
Modicon TM2 Expansion Modules Configuration Programming
Guide
EIO0000000396 (ENG);
EIO0000000397 (FRE);
EIO0000000398 (GER);
EIO0000000399 (SPA);
EIO0000000400 (ITA);
EIO0000000401 (CHS)
Modicon M238 Logic Controller System Functions and Variables
M238 PLCSystem Library Guide
EIO0000000364 (ENG);
EIO0000000757 (FRE);
EIO0000000758 (GER);
EIO0000000759 (SPA);
EIO0000000760 (ITA);
EIO0000000761 (CHS)
Modicon M238 Logic Controller High Speed Counting M238
HSC Library Guide
EIO0000000362 (ENG);
EIO0000000747 (FRE);
EIO0000000748 (GER);
EIO0000000749 (SPA);
EIO0000000750 (ITA);
EIO0000000751 (CHS)
Modicon M238 Logic Controller Pulse Train Output, Pulse Width
Modulation M238 PTOPWM Library Guide
EIO0000000363 (ENG);
EIO0000000752 (FRE);
EIO0000000753 (GER);
EIO0000000755 (ITA);
EIO0000000754 (SPA);
EIO0000000756 (CHS)
SoMachine Modbus and ASCII Read/Write Functions
PLCCommunication Library Guide
EIO0000000361(ENG);
EIO0000000742(FRE);
EIO0000000743(GER);
EIO0000000745(ITA);
EIO0000000744(SPA);
EIO0000000746(CHS)
SoMachine Modem Functions Modem Library Guide EIO0000000552 (ENG);
EIO0000000491 (FRE);
EIO0000000492 (GER);
EIO0000000494 (ITA);
EIO0000000493 (SPA);
EIO0000000495 (CHS)
EIO0000000384 10/2010 11
Product Related Information
1
For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety
Guidelines for the Application, Installation, and Maintenance of Solid State Control"
and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide
for Selection, Installation and Operation of Adjustable-Speed Drive Systems" or their
equivalent governing your particular location.
User Comments
We welcome your comments about this document. You can reach us by e-mail at
techcomm@schneider-electric.com.
WARNING
LOSS OF CONTROL
The designer of any control scheme must consider the potential failure modes
of control paths and, for certain critical control functions, provide a means to
achieve a safe state during and after a path failure. Examples of critical control
functions are emergency stop and overtravel stop, power outage and restart.
Separate or redundant control paths must be provided for critical control
functions.
System control paths may include communication links. Consideration must be
given to the implications of unanticipated transmission delays or failures of the
link.
Observe all accident prevention regulations and local safety guidelines.
1
Each implementation of this equipment must be individually and thoroughly
tested for proper operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
WARNING
UNINTENDED EQUIPMENT OPERATION
Only use software approved by Schneider Electric for use with this equipment.
Update your application program every time you change the physical hardware
configuration.
equipment damage.
12 EIO0000000384 10/2010
EIO0000000384 10/2010 13
1
M238 - About the Modicon M238 Logic Controller
EIO0000000384 10/2010
About the Modicon M238 Logic
Controller
Modicon M238 Logic Controller Devices Overview
Overview
The Schneider Electric Modicon M238 Logic Controller has a variety of powerful
features. This controller can service a wide range of applications.
Key Features
The Modicon M238 Logic Controller is supported and programmed with the
SoMachine Programming Software, which provides the following IEC61131-3
programming languages:
IL: Instruction List
ST: Structured Text
FBD: Function Block Diagram
SFC: Sequential Function Chart
LD: Ladder Diagram
CFC: Continuous Function Chart
The Modicon M238 Logic Controller can manage up to 7 tasks (1 MAST task and up
to 6 other tasks).
The power supply of Modicon M238 Logic Controller is either:
24 Vdc
100...240 Vac
The Modicon M238 Logic Controller with DC power supply includes the following
features:
14 digital inputs, including 8 fast inputs
10 digital outputs, including 4 fast outputs
The Modicon M238 Logic Controller with AC power supply includes the following
features:
14 digital inputs, including 8 fast inputs
10 digital outputs, including 6 relay outputs
M238 - About the Modicon M238 Logic Controller
14 EIO0000000384 10/2010
Modicon M238 Logic Controller Range
The following table describes the M238 range (see M238 Logic Controller,
Hardware Guide) and features:
(1) The fast inputs can be used either as regular inputs or as fast inputs for counting
or event functions.
(2) The fast outputs can be used either as regular outputs or as fast outputs for PTO
(Pulse Train Output), HSC (High Speed Counter), PWM (Pulse Width Modulation),
or FG (Frequency Generator) functions.
Reference Power Supply Serial Ports CANopen
Master
Digital
Inputs
Digital
Outputs
Memory
size
M238 DC Range
TM238LFDC24DT
24 Vdc
SL1:
RS232/RS485
SL2: RS485
Yes 8 fast
inputs
(1)
+
6 regular
inputs
4 transistor
fast
outputs
(2)
+
6 transistor
regular
outputs
2 MB
TM238LDD24DT
24 Vdc
SL1:
RS232/RS485
No
1 MB
M238 AC Range
TM238LFAC24DR
100...240 Vac
SL1:
RS232/RS485
SL2: RS485
Yes
8 fast
inputs
(1)
+
6 regular
inputs
4 transistor
outputs
+
6 relay
outputs
2 MB
TM238LDA24DR
100...240 Vac
SL1:
RS232/RS485
No
1 MB
EIO0000000384 10/2010 15
2
How to Configure the Controller
EIO0000000384 10/2010
Introduction
Before configuring the controller, you must first create a new machine in the
SoMachine software (see SoMachine, Programming Guide).
Graphical Configuration Editor
In the Graphical Configuration Editor (see SoMachine, Programming Guide), the
controller is displayed as below:
16 EIO0000000384 10/2010
Click on the following element to add (if empty) or replace objects:
Controller Configuration Screen
To access to the controller configuration screen, proceed as follow:
In the left hand side, entries and sub-entries let you access the different item
configuration windows:
Element Description
1 Serial Line 1 port manager (Modbus_Manager by default for
TM238LFDC24DT and TM238LFAC24DR)
Serial Line 1 port manager (SoMachine_Network_Manager by default for for
TM238LDD24DT and TM238LDA24DR)
2 CANopen port manager
NOTE: Only available on TM238LFDC24DT and TM238LFAC24DR.
3 Expansion modules
4 Serial Line 2 port manager (SoMachine_Network_Manager by default)
NOTE: Only available on TM238LFDC24DT and TM238LFAC24DR.
5 Access to the controller configuration screen (double click the controller)
Step Action
1 Select the Configuration tab.
2 Double click the controller.
EIO0000000384 10/2010 17
Device Tree
Many functions of the Configuration tab are also accessible from the Program tab.
In the Program tab, the device tree describes the hardware configuration (for
example, the following device tree is the default one when the controller is added):
Entry Sub-entry Refer to...
Parameters - Controller Device Editor (see page 66)
Embedded I/O IO
HSC
PTO_PWM
Embedded Functions configuration (see page 71)
Communication Serial Line 1
Serial Line 2
Serial Line configuration (see page 121)
CAN CANopen configuration (see page 83)
18 EIO0000000384 10/2010
Content of Device Tree
The device tree represents the objects managed by a specific target (controller or
HMI). These objects are:
application objects (Tasks, etc.),
programming objects (POU, GVL, etc.),
hardware-related objects (Embedded functions, CAN, Expansion modules, etc.)
By default, the device tree includes the following hardware-related objects:
Item Description
PLC Logic This part shows everything related to the application:
Tasks configuration
Programming
Library manager
POUs
Relocation Table
Embedded Functions This representation shows the Embedded Functions of the M238.
Serial Line 1
Serial Line 2
CAN
These are the embedded communications.
NOTE: Serial Line 2 and CAN are available only on
TM238LFDC24DT and TM238LFAC24DR
Reference Embedded IO Embedded communications
TM238LDD24DT
TM238LDA24DR
IO
HSC
PTO_PWM
Serial Line (SoMachine_Network_Manager)
TM238LFDC24DT
TM238LFAC24DR
Serial Line 1 (Modbus_Manager)
Serial Line 2 (SoMachine_Network_Manager)
CAN (CANopen)
EIO0000000384 10/2010 19
3
Libraries
EIO0000000384 10/2010
Libraries
Libraries
Introduction
Libraries provide functions, function blocks, data types and global variables that can
be used to develop your project.
The Library Manager of SoMachine provides information about the libraries
included in your project and allows you to install new ones. Refer to CoDeSys online
help for more information on the Library Manager.
Modicon M238 Logic Controller
When you select a Modicon M238 Logic Controller for your application, SoMachine
automatically loads the following libraries:
Library name Description
IoStandard CmpIoMgr configuration types, ConfigAccess,
Parameters and help functions: manages the I/Os in
the application.
Standard Contains all functions and function blocks which are
required matching IEC61131-3 as standard POUs for
an IEC programming system. The standard POUs
must be tied to the project (standard.library).
Util Analog Monitors, BCD Conversions, Bit/Byte
Functions, Controller Datatypes, Function
Manipulators, Mathematical Functions, Signals.
M238 PLCSystem (see Modicon
M238 Logic Controller, System
Functions and Variables, M238
PLCSystem Library Guide)
Contains functions and variables to get information
and send commands to the controller system.
Libraries
20 EIO0000000384 10/2010
M238 HSC (see Modicon M238
Logic Controller, High Speed
Counting, M238 HSC Library Guide)
Contains function blocks and variables to get
information and send commands to the Fast
Inputs/Outputs of the Modicon M238 Logic Controller.
These function blocks permit you to implement HSC
(High Speed Counting) functions on the Fast
M238 PTOPWM (see Modicon
M238 Logic Controller, Pulse Train
Output, Pulse Width Modulation,
M238 PTOPWM Library Guide)
Contains function blocks and variables to get
information and send commands to the Fast
These function blocks permit you to implement PTO
(Pulse Train Output) and PWM (Pulse With
Modulation) functions on the Fast Outputs of the
Modicon M238 Logic Controller.
M238 Relocation Table
(see page 27)
The relocation table allows the user to organize data
to optimize exchanges between the Modbus client and
the controller, by regrouping non-contiguous data into
a contiguous table of registers.
Library name Description
EIO0000000384 10/2010 21
4
Supported Standard Data Types
EIO0000000384 10/2010
The Controller supports the following IEC Data types:
Data type Lower limit Upper limit Information content
BOOL False True 1 Bit
BYTE 0 255 8 Bit
WORD 0 65,535 16 Bit
DWORD 0 4,294,967,295 32 Bit
LWORD 0
2
64
-1
64 Bit
SINT -128 127 8 Bit
USINT 0 255 8 Bit
INT -32,768 32,767 16 Bit
UINT 0 65,535 16 Bit
DINT -2,147,483,648 2,147,483,647 32 Bit
UDINT 0 4,294,967,295 32 Bit
LINT
-2
63
2
63
-1
64 Bit
ULINT 0
2
64
-1
64 Bit
REAL 1.175494351e-38 3.402823466e+38 32 Bit
STRING 1 character 255 characters 1 character = 1 byte
WSTRING 1 character 255 characters 1 character = 1 word
TIME - - 16 bit
22 EIO0000000384 10/2010
Unsupported Standard Data Types
The Controller does not support the following IEC Data types:
Data type Lower limit Upper limit Information content
LREAL 2.225073858507201
4e-308
1.797693134862315
8e+308
64 Bit
EIO0000000384 10/2010 23
5
Memory Mapping
EIO0000000384 10/2010
Memory Mapping
Introduction
This chapter describes the memory maps and sizes of the different memory areas
in the Modicon M238 Logic Controller. These memory areas are used to store user
program logic, data and the programming libraries.
What's in this Chapter?
This chapter contains the following topics:
Topic Page
RAM Memory Organization 24
Relocation Table 27
Memory Mapping
24 EIO0000000384 10/2010
RAM Memory Organization
Introduction
This section describes the RAM (Random Access Memory) size for different areas
of the Modicon M238 Logic Controller.
TM238LFDC24DT and TM238LFAC24DR Memory
The RAM size is 2 Mbytes composed of 2 areas:
1048 kbytes System Area for Operating System memory
1000 kbytes Customer Area for dedicated application memory
Memory containing Persistent and Retain variables is preserved and protected by
an external battery during power outages.
This table shows the different types of memory areas with their sizes in the
TM238LFDC24DT and TM238LFAC24DR memory:
Area Element Size (bytes)
System Area
1048 kbytes
%MW0...%MW59999 120000
System variables
(%MW60000...%MW60199)
400
Dynamic Memory Area: Read Relocation Table
(see page 27)
(60200...61999)
7600
Reserved Memory Area
(62000...62199)
Dynamic Memory Area: Write Relocation Table
(see page 27)
(62200...63999)
Reserved 945152
Customer Area
1000 kbytes
Variables (including Retain and Persistent variables,
see table below)
819200
(1)
Application
Libraries (see page 26)
Symbols
204800
(1)
Memory Mapping
EIO0000000384 10/2010 25
NOTE:
(1) Size checked at build time and must not exceed the value indicated in the
table.
(2) Not all the 8168 bytes are available for the customer application because
some libraries may use Retain Variables.
TM238LDD24DT and TM238LDA24DR Memory
The RAM size is 1 Mbytes composed of 2 areas:
524 kbytes System Area for Operating System memory
500 kbytes Customer Area for dedicated application memory
Memory containing Persistent and Retain variables is preserved and protected by
an external battery during power outages.
This table shows the different types of areas with their sizes for the TM238LDD24DT
and TM238LDA24DR memory:
10568 bytes Battery Saved RAM
8168 bytes
Retain Variables
(2)
400 bytes Persistent Retain Variables
2000 bytes %MW0...%MW999
Area Element Size (bytes)
System Area
524 kbytes
%MW0...%MW59999 120000
System variables
(%MW60000...%MW60199)
400
Dynamic Memory Area: Read Relocation Table
(see page 27)
(60200...61999)
7600
Reserved Memory Area
(62000...62199)
Dynamic Memory Area: Write Relocation Table
(see page 27)
(62200...63999)
Reserved 408576
Customer Area
500 kbytes
Variables (including Retain and Persistent variables,
see table below)
409600
(1)
Application
Libraries (see page 26)
Symbols
102400
(1)
Memory Mapping
26 EIO0000000384 10/2010
NOTE:
(1) Size checked at build time and must not exceed the value indicated in the
table.
(2) Not all the 8168 bytes are available for the customer application because
some libraries may use Retain Variables.
System Variables
For more information on System Variables, refer to the M238 PLCSystem Library
Guide.
Library Sizes
10568 bytes Battery Saved RAM
8168 bytes
Retain Variables
(2)
400 bytes Persistent Retain Variables
2000 bytes %MW0...%MW999
Library Name Average Size Comment
M238 HSC
(see Modicon M238
Logic Controller, High
Speed Counting, M238
HSC Library Guide)
10 kbytes Depends on the functions used.
M238 PLCSystem
(see Modicon M238
Logic Controller,
System Functions and
Variables, M238
PLCSystem Library
Guide)
25 kbytes Always embedded in the application.
The use of the functions does not consume
additional memory.
M238 PTOPWM
(see Modicon M238
Logic Controller, Pulse
Train Output, Pulse
Width Modulation,
M238 PTOPWM
Library Guide)
10 kbytes Depends on the functions used.
PLC Communication 20 kbytes Depends on the functions used.
CANopen Stack 115 kbytes Depends on the functions used. Each CANopen
Slave consumes approximately an additional
10 kbytes of memory.
Memory Mapping
EIO0000000384 10/2010 27
Relocation Table
Introduction
The Relocation Table allows you to organize data to optimize communication
between the controller and other equipment by regrouping non-contiguous data into
a contiguous table of registers.
NOTE: A Relocation Table is considered as an object. Only one Relocation Table
object can be added to a controller.
Relocation Table Description
This table describes the Relocation Table organization:
For further information refer to M238 PLCSystem Library Guide.
Register Description
60200...61999 Dynamic Memory Area: Read Relocation Table
62200...63999 Dynamic Memory Area: Write Relocation Table
Memory Mapping
28 EIO0000000384 10/2010
Adding a Relocation Table
The following table describes how to add a Relocation Table to your project:
Step Action
1 Select the Program tab:
2 In the Device tree of the Devices window, right-click the Application node and
click Add Object... in the contextual menu:
Memory Mapping
EIO0000000384 10/2010 29
Relocation Table Editor
The Relocation Table Editor allows you to organize your variables under the
Relocation Table.
To access the Relocation Table Editor, double-click the Relocation Table node in
the Device tree of the Devices window:
3 Select Relocation Table in the list and click the Open button:
Result: The new Relocation Table is created and initialized.
NOTE: As a Relocation Table must be unique for a controller, its name is
Relocation Table and cannot be changed.
Step Action
Memory Mapping
30 EIO0000000384 10/2010
The following picture describes the Relocation Table Editor:
Icon Element Description
New Item Adds an element to the list of system variables.
Move Down Moves down the selected element of the list.
Move Up Moves up the selected element of the list.
Delete Item Removes the selected elements of the list.
Copy Copies the selected elements of the list.
Memory Mapping
EIO0000000384 10/2010 31
NOTE: If the entered variable is undefined, then the content of the cell is displayed
in red, the related Validity cell is False, and Address is set to -1.
Paste Pastes the elements copied.
Erase Empty
Item
Removes all the elements of the list for which the "Variable"
column is empty.
- ID Automatic incremental integer (not editable)
- Variable The name or the full path of a variable (editable)
- Address The address of the system area where the variable is stored
(not editable).
- Length Variable length in word
- Validity Indicates if the entered variable is valid (not editable).
Icon Element Description
Memory Mapping
32 EIO0000000384 10/2010
EIO0000000384 10/2010 33
6
Tasks
EIO0000000384 10/2010
Tasks
Introduction
The Task Configuration node in the SoMachine device tree allows you to define one
or several tasks to control the execution of your application program.
The task types available are:
Cyclic
Freewheeling
Event
External Event
This chapter begins with an explanation of these task types and provides information
regarding the maximum number of tasks, the default task configuration, and task
prioritization. In addition, this chapter introduces the system and task watchdog
functions and explains their relationship to task execution.
Topic Page
Maximum Number of Tasks 34
Task Configuration Screen 35
Task Types 38
System and Task Watchdogs 41
Task Priorities 42
Default Task Configuration 44
Tasks
34 EIO0000000384 10/2010
Maximum Number of Tasks
Maximum Number of Tasks
The maximum number of tasks you can define for the Modicon M238 Logic
Controller are:
Total number of tasks = 7
Cyclic tasks = 3
Freewheeling tasks = 1
Event tasks = 2
External Event tasks = 4
Special Considerations for Freewheeling
A Freewheeling task (see page 39) does not have a fixed duration. In Freewheeling
mode, each task scan starts when the previous scan has been completed and after
a period of system processing (30 % of the total duration of the Freewheeling task).
If the system processing period is reduced to less than 15% for more than 3 seconds
due to other tasks interruptions, a system error is detected. For more information
refer to the System Watchdog (see page 41).
It is recommended not to use a Freewheeling task in a multi-tasks application when
some high priority and time-consuming tasks are running.
Tasks
EIO0000000384 10/2010 35
Task Configuration Screen
Screen Description
The following screen allows you configure the tasks. Double click on the task that
you want to configure in the device tree of the Devices window to access this
screen.
Each configuration task has its own parameters which are independent of the other
tasks.
The task configuration window is composed of 4 parts:
Tasks
36 EIO0000000384 10/2010
The following table describes the fields of the Task Configuration screen:
Field Name Definition
Priority You can configure the priority of each task with a number between 0 and 31 (0 is the
highest priority, 31 is the lowest).
Only one task at a time can be running. The priority determines when the task will run:
a higher priority task will preempt a lower priority task
tasks with same priority will run in turn (2 ms time-slice)
NOTE: Do not assign tasks with the same priority. If there are yet other tasks that attempt
to preempt tasks with the same priority, the result could be indeterminate and unpredicable.
For more information, refer to Task Priorities (see page 42).
Type 4 types of task are available:
Cyclic (see page 38)
Freewheeling (see page 39)
Event (see page 39)
External event (see page 40)
Watchdog
(see page 41)
To configure the watchdog, you must define two parameters:
Time: enter the timeout before watchdog execution.
Sensitivity: defines the number of expirations of the watchdog timer before the
Controller stops program execution and enters into a HALT state (see page 46).
Tasks
EIO0000000384 10/2010 37
POUs (see SoMachine,
Programming Guide)
The list of POUs (Programming Organization Units) controlled by the task is defined in the
task configuration window. To add a POU linked to the task, use the command Add POU.
To remove a POU from the list, use the command Remove POU.
You can create as many POUs as you want. An application with several small POUs, as
opposed to one large POU, can improves the refresh time of the variables in online mode.
The command Open POU opens the currently selected POU in the appropriate editor.
To access an item already stated in the system, use the Change POU...:
POUs are executed in the order shown in the list below. To rearrange the POUs in the list,
click on Move Up or Move Down:
Field Name Definition
Tasks
38 EIO0000000384 10/2010
Task Types
Introduction
The following section describes the various task types available for your program,
along with a description of the task type characteristics.
Cyclic Task
A Cyclic task is assigned a fixed duration using the Interval setting in the Type
section of Configuration sub-tab for that task. Each Cyclic task type executes as
follows:
1. Read Inputs: The input states are written to the %I input memory variable and
other system operations are executed.
2. Task Processing: The user code (POU, etc.) defined in the task is processed.
The %Q output memory variable is updated according to your application
program instructions but not written to the physical outputs during this operation.
3. Write Outputs: The %Q output memory variable is modified with any output
forcing that has been defined, however, the writing of the physical outputs
depends upon the type of output and instructions used.
For more information on defining the Bus cycle task refer to Modicon M238 Logic
Controller Settings (see page 68) and CoDeSys online help.
For more information on I/O behavior, refer to Controller States Detailed
Description (see page 50).
NOTE: Expansion I/Os are always physically updated by the MAST (see Modicon
M218 Logic Controller, Programming Guide)task.
4. Remaining Interval time: The controller OS carries out system processing and
any other lower priority tasks.
NOTE: If you define too short a period for a cyclic task, it will repeat immediately
after the write of the outputs and without executing other lower priority tasks or any
system processing. This will affect the execution of all tasks and cause the controller
to exceed the system watchdog limits, generating a system watchdog exception.
Tasks
EIO0000000384 10/2010 39
Freewheeling Task
A Freewheeling task does not have a fixed duration. In Freewheeling mode, each
task scan begins when the previous scan has been completed and after a short
period of system processing. Each Freewheeling task type executes as follows:
1. Read Inputs: The input states are written to the %I input memory variable and
other system operations are executed.
2. Task Processing: The user code (POU, etc.) defined in the task is processed.
The %Q output memory variable is updated according to your application
program instructions but not written to the physical outputs during this operation.
3. Write Outputs: The %Q output memory variable is modified with any output
forcing that has been defined, however, the writing of the physical outputs
depends upon the type of output and instructions used.
For more information on defining the Bus cycle task refer to Modicon M238 Logic
Controller Settings (see page 68) and CoDeSys online help.
For more information on I/O behavior, refer to Controller States Detailed
Description (see page 50).
4. System Processing: The controller OS carries out system processing and any
other lower priority tasks. The length of the system processing period is set to
30 % of the total duration of the 3 previous operations ( 4 = 30 % x (1 + 2 + 3)).
In any case, the system processing period won't be lower than 3 ms.
Event Task
This type of task is event-driven and is initiated by a program variable. It starts at the
rising edge of the boolean variable associated to the trigger event unless preempted
by a higher priority task. In that case, the Event task will start as dictated by the task
priority assignments.
For example, if you have defined a variable called my_Var and would like to assign
it to an Event, select the Event type on the Configuration sub-tab and click on the
Input Assistant button to the right of the Event name field. This will cause
the Input Assistant dialog box to appear. In the Input Assistant dialog box, you
navigate the tree to find and assign the my_Var variable.
Tasks
40 EIO0000000384 10/2010
External Event Task
This type of task is event-driven and is initiated by the detection of a hardware or
hardware-related function event. It starts when the event occurs unless preempted
by a higher priority task. In that case, the External Event task will start as dictated by
the task priority assignments.
For example, an External Event task could be associated with an HSC Threshold
cross event. To associate the HSC4_TH3 event to an External Event task, select it
from the External event dropdown list on the Configuration sub-tab.
Depending on the related product, there are up to 2 types of events that can be
associated with an External Event task:
Rising edge on Fast input (%IX0.0 ... %IX0.7 inputs)
HSC thresholds
Tasks
EIO0000000384 10/2010 41
System and Task Watchdogs
Introduction
Two types of watchdog functionality are implemented for the Modicon M238 Logic
Controller. These are:
System Watchdogs: These watchdogs are defined in and managed by the
controller OS (firmware). These are not configurable by the user.
Task Watchdogs: Optional watchdogs that can be defined for each task. These
are managed by your application program and are configurable in SoMachine.
System Watchdogs
Two system watchdogs are defined for the Modicon M238 Logic Controller. They are
managed by the controller OS (firmware) and are therefore sometimes referred to
as hardware watchdogs in the SoMachine online help. When one of the system
watchdogs exceeds its threshold conditions, an error is detected.
The threshold conditions for the 2 system watchdogs are defined as follows:
If all of the tasks require more than 80 % of the processor resources for more than
3 seconds, a system error is detected. The controller enters the EMPTY state.
If the lowest priority task of the system is not executed during an interval of 20
seconds, a system error is detected. The controller responds with an automatic
reboot into the EMPTY state.
NOTE: System watchdogs are not configurable by the user.
Task Watchdogs
SoMachine allows you to configure an optional task watchdog for every task defined
in your application program. (Task watchdogs are sometimes also referred to as
software watchdogs or control timers in the SoMachine online help). When one of
your defined task watchdogs reaches its threshold condition, an application error is
detected and the controller enters the HALT state.
When defining a task watchdog, the following options are available:
Time: This defines the allowable maximum execution time for a task. When a
task takes longer than this the controller will report a task watchdog exception.
Sensitivity: The sensitivity field defines the number of task watchdog exceptions
that must occur before the controller detects an application error.
A task watchdog is configured on the Configuration sub-tab of the Task
Configuration tab for the individual task. To access this tab, double-click on the task
in the device tree.
NOTE: For more details on watchdogs, refer to the CoDeSys online help.
Tasks
42 EIO0000000384 10/2010
Task Priorities
Introduction
You can configure the priority of each task between 0 and 31 (0 is the highest
priority, 31 is the lowest). Each task must have a unique priority. If you assign the
same priority to more than one task, execution for those tasks is indeterminate and
unpredictable, which may lead to unintended consequences.
WARNING
Do not assign the same priority to different tasks.
equipment damage.
Tasks
EIO0000000384 10/2010 43
Task Preemption Due to Task Priorities
When a task cycle starts, it can interrupt any task with lower priority (task
preemption). The interrupted task will resume when the higher priority task cycle is
finished.
NOTE: If the same input is used in different tasks the input image may change
during the task cycle of the lower priority task.
To improve the likelihood of proper output behavior during multitasking, an error is
detected if outputs in the same byte are used in different tasks.
WARNING
Map your inputs so that tasks do not alter the input images in an unexpected
manner.
equipment damage.
Tasks
44 EIO0000000384 10/2010
Default Task Configuration
Default Task Configuration
For the Modicon M238 Logic Controller:
The MAST task can be configured in Freewheeling or Cyclic mode. The MAST
task is automatically created by default in Cyclic mode. Its preset priority is
medium (15), its preset interval is 20 ms, and its task watchdog service is
activated with a time of 100 ms and a sensitivity of 1. Refer to Task Priorities
(see page 42) for more information on priority settings. Refer to System and Task
Watchdogs (see page 41) for more information on watchdogs.
Designing an efficient application program is important in systems approaching the
maximum number of tasks. In such an application, it can be difficult to keep the
resource utilization below the system watchdog threshold. If priority reassignments
alone are not sufficient to remain below the threshold, some lower priority tasks can
be made to use fewer system resources if the SysTaskWaitSleep function is added
to those tasks. For more information about this function, see the optional SysTask
library of the system / SysLibs category of libraries.
NOTE: Do not delete or change the Name of the MAST task. If you do so,
SoMachine detects an error when you attempt to build the application, and you will
not be able to download it to the controller.
EIO0000000384 10/2010 45
7
Controller States and Behaviors
EIO0000000384 10/2010
Introduction
This chapter provides you with information on controller states, state transitions, and
behaviors in response to system events. It begins with a detailed controller state
diagram and a description of each state. It then defines the relationship of output
states to controller states before explaining the commands and events that result in
state transitions. It concludes with information about Remanent variables and the
effect of SoMachine task programming options on the behavior of your system.
This chapter contains the following sections:
Section Topic Page
7.1 Controller State Diagram 46
7.2 Controller States Description 50
7.3 State Transitions and System Events 54
46 EIO0000000384 10/2010
7.1 Controller State Diagram
Controller State Diagram
Controller State Diagram
The following diagram describes the controller operating mode:
Legend:
Controller states are indicated in ALL-CAPS BOLD
User and application commands are indicated in Bold
System events are indicated in Italics
Decisions, decision results and general information are indicated in normal text
(1)
For details on STOPPED to RUNNING state transition, refer to Run Command
(see page 57).
(2)
For details on RUNNING to STOPPED state transition, refer to Stop Command
(see page 57).
EIO0000000384 10/2010 47
Note 1
The Power Cycle (Power Interruption followed by a Power ON) deletes all output
forcing settings. Refer to Controller State and Output Behavior (see page 55) for
further details.
Note 2
The boot process can take up to 10 seconds under normal conditions. The outputs
will assume their initialization states.
Note 3
In some cases, when a system error is detected, it will cause the controller to
automatically reboot into the EMPTY state as if no Boot application were present in
the Flash memory. However, the Boot application is not actually deleted from the
Flash memory.
Note 4
The application is loaded into RAM after verification of a valid Boot application.
Note 5
When a power interruption occurs, the controller continues in the RUNNING state
for at least 4 ms before shutting down. If you have configured and provide power to
the Run/Stop input from the same source as the controller, the loss of power to this
input will be detected immediately, and the controller will behave as if a STOP
command was received. Therefore, if you provide power to the controller and the
Run/Stop input from the same source, your controller will normally reboot into the
STOPPED state after a power interruption.
Note 6
During a successful application download the following events occur:
The application is loaded directly into RAM.
By default, the Boot application is created and saved into the Flash memory.
Note 7
The default behavior after downloading an application program is for the controller
to enter the STOPPED state irrespective of the Run/Stop input setting or the last
controller state before the download.
48 EIO0000000384 10/2010
However, there are two important considerations in this regard:
Online Change: An online change (partial download) initiated while the controller
is in the RUNNING state returns the controller to the RUNNING state if successful
and provided the Run/Stop input is configured and set to Run. Before using the
Login with online change option, test the changes to your application program
in a virtual or non-production environment and confirm that the controller and
attached equipment assume their expected conditions in the RUNNING state.
NOTE: Online changes to your program are not automatically written to the Boot
application, and will be overwritten by the existing Boot application at the next
reboot. If you wish your changes to persist through a reboot, manually update the
Boot application by selecting Create boot application in the Online menu (the
controller must be in the STOPPED state to achieve this operation).
Multiple Download: SoMachine has a feature that allows you to perform a full
application download to multiple targets on your network or fieldbus. One of the
default options when you select the Multiple Download... command is the Start
all applications after download or online change option, which restarts all
download targets in the RUNNING state, provided their respective Run/Stop
inputs are commanding the RUNNING state, but irrespective of their last
controller state before the multiple download was initiated. Deselect this option if
you do not want all targeted controllers to restart in the RUNNING state. In
addition, before using the Multiple Download option, test the changes to your
application program in a virtual or non-production environment and confirm that
the targeted controllers and attached equipment assume their expected
conditions in the RUNNING state.
WARNING
Always verify that online changes to a RUNNING application program operate
as expected before downloading them to controllers.
equipment damage.
WARNING
Always verify that your application program will operate as expected for all
targeted controllers and equipment before issuing the "Multiple Download"
command with the "Start all applications after download or online change"
option selected.
equipment damage.
EIO0000000384 10/2010 49
NOTE: During a multiple download, unlike a normal download, SoMachine does not
offer the option to create a Boot application. You can manually create a Boot
application at any time by selecting Create boot application in the Online menu
on all targeted controllers (the controller must be in the STOPPED state to achieve
this operation).
Note 8
The SoMachine software platform allows many powerful options for managing task
execution and output conditions while the controller is in the STOPPED or HALT
states. Refer to Controller States Description (see page 50) for further details.
Note 9
To exit the HALT state it is necessary to issue one of the Reset commands (Reset
Warm, Reset Cold, Reset Origin), download an application or cycle power.
Note 10
The RUNNING state has two exceptional conditions.
They are:
RUNNING with External Error: This exceptional condition is indicated by the Err
Status LED, which displays 1 red flash. You may exit this state by clearing the
external error. No controller commands are required.
RUNNING with Breakpoint: This exceptional condition is indicated by the RUN
Status LED, which displays 1 green flash. Refer to Controller States Description
(see page 50) for further details.
50 EIO0000000384 10/2010
7.2 Controller States Description
Controller States Description
Introduction
This section provides a detailed description of the controller states.
(1)
Note: The controller states can be read in the PLC_R.i_wStatus system variable
of the M238 PLCSystem Library (see Modicon M238 Logic Controller, System
Functions and Variables, M238 PLCSystem Library Guide)
Controller States Table
The following table describes the controller states:
WARNING
Never assume that your controller is in a certain controller state before
commanding a change of state, configuring your controller options, uploading a
program, or modifying the physical configuration of the controller and its
connected equipment.
Before performing any of these operations, consider the effect on all connected
equipment.
Before acting on a controller, always positively confirm the controller state by
viewing its LEDs, confirming the condition of the Run/Stop input, checking for
the presence of output forcing, and reviewing the controller status information
via SoMachine
(1)
.
equipment damage.
Controller State Description RUN LED Err LED
BOOTING The controller executes the boot firmware and its own internal
self-tests. It then checks the checksum of the firmware and
user applications. It does not execute the application nor does
it communicate.
Off Flashing
INVALID_OS There is not a valid firmware file present In the Flash memory.
The controller does not execute the application.
Communication is only possible through the USB host port,
and then only for uploading a valid OS.
Refer to Upgrading an M238 Firmware (see page 155).
Off Flashing red
EIO0000000384 10/2010 51
Details of the STOPPED State
The following statements are always true for the STOPPED state:
The input configured as the Run/Stop input remains operational.
Serial (Modbus, ASCII, etc.), and USB communication services remain
operational and commands written by these services can continue to affect the
application, the controller state, and the memory variables.
All outputs initially assume their configured state (Keep current values or Set all
outputs to default) or the state dictated by output forcing if used. The
subsequent state of the outputs depends on the value of the Update IO while in
stop setting and on commands received from remote devices.
EMPTY There is no application present or an invalid application. Off 3 flash red
EMPTY after
detection of a
System Error
This state is the same as the normal EMPTY state except that
a flag is set to make it appear as if no Boot Application is
present (no Application is loaded) and the LED indications are
different.
Rapid
flashing red
Rapid flashing
red
RUNNING The controller is executing a valid application. Solid green Off
RUNNING with
Breakpoint
This state is the same as the RUNNING state with the
following exceptions:
The task-processing portion of the program does not
resume until the breakpoint is cleared.
The LED indications are different.
See CoDeSys online help in SoMachine for details on
breakpoints management.
Single flash
green
Off
RUNNING with
detection of an
External Error
This state is the same as the normal RUNNING state except
the LED indications are different.
Solid green Single flash red
STOPPED The controller has a valid application that is stopped. See
Details of the STOPPED State (see page 51) for an
explanation of the behavior of outputs and field buses in this
state.
Flashing
green
Off
STOPPED with
detection of an
External Error
This state is the same as the normal STOPPED state except
the LED indications are different.
Flashing
green
Single flash red
HALT The controller stops executing the application because it has
detected an Application or a System Error.
This description is the same as for the STOPPED state with
the following exceptions:
The task responsible for the Application Error always
behaves as if the Update IO while in stop option was not
selected. All other tasks follow the actual setting.
The LED indications are different
Flashing
green
Solid red
Controller State Description RUN LED Err LED
52 EIO0000000384 10/2010
Task and I/O Behavior When Update IO While In Stop Is Selected
When the Update IO while in stop setting is selected:
The Read Inputs operation continues normally. The physical inputs are read
and then written to the %I input memory variable.
The Task Processing operation is not executed.
The Write Outputs operation continues. The %Q output memory variable is
updated to reflect either the Keep current values configuration or the Set all
outputs to default configuration, adjusted for any output forcing, and then
written to the physical outputs.
NOTE: if Q0, Q1, Q2 or Q3 outputs are configured for PTO, PWM, FG, or HSC
operation, they fallback to a value of 0 irrespective of the configured fallback setting.
For PTO operation, outputs Q0, Q1, Q2, and Q3 execute a fast stop deceleration.
Outputs configured for PWM, FG, and HSC go immediately to 0.
NOTE: Commands received by Serial, USB, and CAN communications can
continue to write to the memory variables. Changes to the %Q output memory
variables are written to the physical outputs.
CAN Behavior When Update IO While In Stop Is Selected
The following is true for the CAN buses when the Update IO while in stop setting
is selected:
The CAN bus remains fully operational. Devices on the CAN bus continue to
perceive the presence of a functional CAN Master.
TPDO and RPDO continue to be exchanged.
The optional SDO, if configured, continue to be exchanged.
The Heartbeat and Node Guarding functions, if configured, continue to
operate.
If the Behaviour for outputs in Stop field is set to Keep current values, the
TPDOs continue to be issued with the last actual values.
If the Behaviour for outputs in Stop field is Set all outputs to default the
last actual values are updated to the default values and subsequent TPDOs
are issued with these default values.
WARNING
Design and program your system so that controlled equipment assumes a
safe state when the controller enters fallback mode if you use outputs Q0,
Q1, Q2, or Q3 for PTO, PWM, FG, or HSC operation.
Failure to follow these instructions can result in death, serious injury,
or equipment damage.
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Task and I/O Behavior When Update IO While In Stop Is Not Selected
When the Update IO while in stop setting is not selected, the controller sets the
I/O to either the Keep current values or Set all outputs to default condition (as
adjusted for output forcing if used). After this, the following becomes true:
The Read Inputs operation ceases. The %I input memory variable is frozen at
its last values.
The Task Processing operation is not executed.
The Write Outputs operation ceases. The %Q output memory variables can be
updated via the Serial, and USB connections. However, the physical outputs
are unaffected and retain the state specified by the configuration options.
NOTE: if Q0, Q1, Q2 or Q3 outputs are configured for PTO, PWM, FG, or HSC
operation, they fallback to a value of 0 irrespective of the configured fallback setting.
For PTO operation, outputs Q0, Q1, Q2, and Q3 execute a fast stop deceleration.
Outputs configured for PWM, FG, and HSC go immediately to 0.
CAN Behavior When Update IO While In Stop Is Not Selected
The following is true for the CAN buses when the Update IO while in stop setting
is not selected:
The CAN Master ceases communications. Devices on the CAN bus assume
their configured fallback states.
TPDO and RPDO exchanges cease.
Optional SDO, if configured, exchanges cease.
The Heartbeat and Node Guarding functions, if configured, stop.
The current or default values, as appropriate, are written to the TPDOs and
sent once before stopping the CAN Master.
WARNING
Design and program your system so that controlled equipment assumes a
safe state when the controller enters fallback mode if you use outputs Q0,
Q1, Q2, or Q3 for PTO, PWM, FG, or HSC operation.
Failure to follow these instructions can result in death, serious injury,
or equipment damage.
54 EIO0000000384 10/2010
7.3 State Transitions and System Events
Overview
This section begins with an explanation of the output states possible for the
controller. It then presents the system commands used to transition between
controller states and the system events that can also affect these states. It
concludes with an explanation of the Remanent variables, and the circumstances
under which different variables and data types are retained through state transitions.
What's in this Section?
This section contains the following topics:
Topic Page
Controller States and Output Behavior 55
Commanding State Transitions 57
Error Detection, Types, and Management 62
Remanent Variables 63
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Controller States and Output Behavior
Introduction
The Modicon M238 Logic Controller defines output behavior in response to
commands and system events in a way that allows for greater flexibility. An
understanding of this behavior is necessary before discussing the commands and
events that affect controller states. For example, typical controllers define only two
options for output behavior in stop: fallback to default value or keep current value.
The possible output behaviors and the controller states to which they apply are:
Managed by Application Program
Keep Current Values
Set All Outputs to Default
Initialization Values
Output Forcing
Managed by Application Program
Your application program manages outputs normally. This applies in the RUNNING
and RUNNING with External Error states.
Keep Current Values
You can select this option by choosing Keep current values in the Behaviour for
outputs in Stop dropdown menu of the PLC Settings sub-tab of the Controller
Editor. To access the Controller Editor, right-click on the controller in the device tree
and select Edit Object.
This output behavior applies in the STOPPED and HALT controller states. Outputs
are set to and maintained in their current state, although the details of the output
behavior varies greatly depending on the setting of the Update IO while in stop
option and the actions commanded via configured fieldbuses. Refer to Controller
States Description (see page 50) for more details on these variations.
Set All Outputs to Default
You can select this option by choosing Set all outputs to default in the Behaviour
for outputs in Stop dropdown menu of the PLC Settings sub-tab of the Controller
Editor. To access the Controller Editor, right-click on the controller in the device
tree and select Edit Object.
This output behavior applies in the STOPPED and HALT controller states. Outputs
are set to and maintained in their current state, although the details of the output
behavior varies greatly depending on the setting of the Update IO while in stop
option and the actions commanded via configured fieldbuses. Refer to Controller
States Description (see page 50) for more details on these variations.
56 EIO0000000384 10/2010
Initialization Values
This output state applies in the BOOTING, EMPTY (following power cycle with no
boot application or after the detection of a system error), and INVALID_OS states.
In the initialization state, analog, transistor and relay outputs assume the following
values:
For an analog output : Z (High Impedance)
For a fast transistor output: Z (High Impedance)
For a regular transistor output: 0 Vdc
For a relay output: Open
Output Forcing
The controller allows you to force the state of selected outputs to a defined value for
the purposes of system testing and commissioning. Output forcing overrides all
other commands to an output irrespective of task programming. You are only able
to force the value of an output while your controller is connected to SoMachine. To
do so you use the Force Values command in the Debug/Watch menu. When you
logout of SoMachine when output forcing has been defined, you are presented with
the option to retain output forcing settings. If you select this option, the output forcing
continues to control the state of the selected outputs until you download an
application or use one of the Reset commands.
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Commanding State Transitions
Run Command
Effect: Commands a transition to the RUNNING controller state.
Starting Conditions: BOOTING or STOPPED state.
Methods for Issuing a Run Command:
Run/Stop Input: If configured, command a rising edge to the Run/Stop input. The
Run/Stop input must be 1 for all of the subsequent options to be effective. Refer
to Run/Stop Input (see page 77) for more information.
SoMachine Online Menu: Select the Start command.
By an external call via Modbus request using the PLC_W. q_wPLCControl and
PLC_W. q_uiOpenPLCControl system variables of the M238 PLCSystem Library
(see Modicon M238 Logic Controller, System Functions and Variables, M238
PLCSystem Library Guide).
Login with online change option: An online change (partial download) initiated
while the controller is in the RUNNING state returns the controller to the
RUNNING state if successful.
Multiple Download Command: sets the controllers into the RUNNING state if the
Start all applications after download or online change option is selected,
irrespective of whether the targeted controllers were initially in the RUNNING,
STOPPED, HALT or EMPTY state.
The controller is restarted into the RUNNING state automatically under certain
conditions.
Refer to Controller State Diagram (see page 46) for further details.
Stop Command
Effect: Commands a transition to the STOPPED controller state.
Starting Conditions: BOOTING, EMPTY or RUNNING state.
Methods for Issuing a Stop Command:
Run/Stop Input: If configured, command a value of 0 to the Run/Stop input. Refer
to Run/Stop Input (see page 77) for more information.
SoMachine Online Menu: Select the Stop command.
By an internal call by the application or an external call via Modbus request using
the PLC_W. q_wPLCControl and PLC_W. q_uiOpenPLCControl system
variables of the M238 PLCSystem Library (see Modicon M238 Logic Controller,
System Functions and Variables, M238 PLCSystem Library Guide).
Login with online change option: An online change (partial download) initiated
while the controller is in the STOPPED state returns the controller to the
STOPPED state if successful.
Download Command: implicitly sets the controller into the STOPPED state.
58 EIO0000000384 10/2010
Multiple Download Command: sets the controllers into the STOPPED state if
the Start all applications after download or online change option is not
selected, irrespective of whether the targeted controllers were initially in the
RUNNING, STOPPED, HALT or EMPTY state.
The controller is restarted into the STOPPED state automatically under certain
conditions.
Refer to Controller State Diagram (see page 46) for further details.
Reset Warm
Effect: Resets all variables, except for the remanent variables, to their default
values. Places the controller into the STOPPED state.
Starting Conditions: RUNNING, STOPPED, or HALT states.
Methods for Issuing a Reset Warm Command:
SoMachine Online Menu: Select the Reset warm command.
Effects of the Reset Warm Command:
1. The application stops.
2. Forcing is erased.
3. Diagnostic indications for detected errors are reset.
4. The values of the retain variables are maintained.
5. The values of the retain-persistent variables are maintained.
6. All non-located and non-remanent variables are reset to their initialization values.
7. The values of the first 1000 %MW registers are maintained.
8. The values of %MW1000 to %MW59999 registers are reset to 0.
9. All fieldbus communications are stopped and then restarted after the reset is
complete.
10.All I/O are briefly reset to their initialization values and then to their user-
configured default values.
For details on variables, refer to Remanent Variables (see page 63).
Reset Cold
Effect: Resets all variables, except for the retain-persistent type of remanent
variables, to their initialization values. Places the controller into the STOPPED state.
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Methods for Issuing a Reset Cold Command:
SoMachine Online Menu: Select the Reset cold command.
Effects of the Reset Cold Command:
4. The values of the retain variables are reset to their initialization value.
5. The values of the retain-persistent variables are maintained.
9. All fieldbus communications are stopped and then restarted after the reset is
complete.
10.All I/O are briefly reset to their initialization values and then to their user-
configured default values.
Reset Origin
Effect: Resets all variables, including the remanent variables, to their initialization
values. Erases all user files on the controller. Places the controller into the EMPTY
state.
Methods for Issuing a Reset Origin Command:
SoMachine Online Menu: Select the Reset origin command.
Effects of the Reset Origin Command:
3. The Boot application file is erased.
5. The values of the retain variables are reset.
6. The values of the retain-persistent variables are reset.
7. All non-located and non-remanent variables are reset.
8. The values of the first 1000 %MW registers are reset to 0.
10.All fieldbus communications are stopped.
11.All I/O are reset to their initialization values.
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Reboot
Effect: Commands a reboot of the controller.
Starting Conditions: Any state.
Methods for Issuing the Reboot Command:
Power cycle.
Effects of the Reboot:
1. The state of the controller depends on a number of conditions:
a. The controller state will be RUNNING if:
- The Reboot was provoked by a power cycle, and
- If configured, the Run/Stop input is set to RUN, and
- Controller state was RUNNING prior to the power cycle.
b. The controller state will be STOPPED if:
- The boot application is different than the application loaded prior to the
reboot, or
- If configured, the Run/Stop input is set to STOP, or
- Controller state was STOPPED prior to a power cycle, or
- The previously saved context is invalid.
c. The controller state will be EMPTY if:
- There is no boot application or the boot application is invalid, or
- The reboot was provoked by a detected System Error.
d. The controller state will be INVALID_OS if there is no valid OS.
4. The values of the retain variables are restored if saved context is valid.
5. The values of the retain-persistent variables are restored if saved context is valid.
7. The values of the first 1000 %MW registers are restored if saved context is valid.
9. All fieldbus communications are stopped and restarted after the boot application
is loaded successfully.
10.All I/O are reset to their initialization values and then to their user-configured
default values if the controller assumes a STOPPED state after the reboot.
NOTE: The Check context test concludes that the context is valid when the
application and the remanent variables are the same as defined in the Boot
application.
NOTE: If you provide power to the Run/Stop input from the same source as the
controller, the loss of power to this input will be detected immediately, and the
controller will behave as if a STOP command was received. Therefore, if you provide
power to the controller and the Run/Stop input from the same source, your controller
will normally reboot into the STOPPED state after a power interruption.
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NOTE: If you make an online change to your application program while your
controller is in the RUNNING or STOPPED state but do not manually update your
Boot application, the controller will detect a difference in context at the next reboot,
the remanent variables will be reset as per a Reset cold command, and the
controller will enter the STOPPED state.
Download Application
Effect: Loads your application executable into the RAM memory. Optionally, creates
a Boot application in the Flash memory.
Starting Conditions: RUNNING, STOPPED, HALT, and EMPTY states.
Methods for Issuing the Download Application Command:
SoMachine:
Two options exist for downloading a full application:
Download command.
Multiple Download command.
For important information on the application download commands, refer to
Controller State Diagram (see page 46).
Effects of the SoMachine Download Command:
1. The existing application stops and then is erased.
2. If valid, the new application is loaded and the controller assumes a STOPPED
state.
5. The values of the retain variables are reset to their initialization values.
6. The values of any existing retain-persistent variables are maintained.
10.All fieldbus communications are stopped and then any configured fieldbus of the
new application is started after the download is complete.
11.All I/O are reset to their initialization values and then set to the new user-
configured default values after the download is complete.
62 EIO0000000384 10/2010
Error Detection, Types, and Management
Detected Error Management
The controller manages 3 types of detected errors:
external detected errors
application detected errors
system detected errors
The following table describes the types of errors that may be detected:
NOTE: refer to the M238 PLCSystem Library Guide (see Modicon M238 Logic
Controller, System Functions and Variables, M238 PLCSystem Library Guide) for
more detailed information on diagnostics.
Type of
Error
Detected
Description Resulting
Controller
State
External
Error
Detected
External errors are detected by the system while RUNNING or
STOPPED but do not affect the ongoing controller state. An
external error is detected in the following cases:
The controller is configured for an expansion module that is
not present or not detected
The boot application in Flash memory is not the same as the
one in RAM.
RUNNING
with External
Error
Detected
Or
STOPPED
with External
Error
Detected
Application
Error
Detected
An application error is detected when improper programming is
encountered or when a task watchdog threshold is exceeded.
Examples:
task (software) watchdog exception
execution of an unknown function
etc.
HALT
System
Error
Detected
A system error is detected when the controller enters a condition
that cannot be managed during runtime. Most such conditions
result from firmware or hardware exceptions, but there are
some cases when incorrect programming can result in the
detection of a system error, for example, when attempting to
write to memory that was reserved during runtime.
Examples:
System (hardware) watchdog overflow
exceeding the defined size of an array
etc.
BOOTING
EMPTY
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Remanent Variables
Remanent Variables
Remanent variables can retain their values in the event of power outages, reboots,
resets, and application program downloads. There are multiple types of remanent
variables, declared individually as "retain" or "persistent", or in combination as
"retain-persistent".
NOTE: For this controller, variables declared as persistent have the same behavior
as variables declared as retain-persistent.
The following table describes the behavior of remanent variables in each case:
NOTE: The first 1000 %MW are automatically retained and persistent if no variable
is associated to them (their values are kept after a reboot / Reset warm / Reset cold).
The other %MW are managed as VAR.
For example if you have in your program:
VAR myVariable AT %MW0 : WORD; END_VAR
%MW0 will behave like myVariable (not retained and not persistent).
Action VAR VAR RETAIN VAR
PERSISTENT
and RETAIN-
PERSISTENT
Online change to application
program
X X X
Stop X X X
Power cycle - X X
Reset warm - X X
Reset cold - - X
Reset origin - - -
Download of application
program
- - X
X The value is maintained
- The value is re initialized
64 EIO0000000384 10/2010
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8
Controller Configuration
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Introduction
This chapter describes how to configure the Modicon M238 Logic Controller.
Topic Page
Controller Configuration 66
Managing the M238 Controller Applications 67
M238 Controller Settings 68
M238 Controller Services 70
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Controller Configuration Window
Double-click on the controller name (MyController by default) to access the
Controller Configuration window:
The table below describes the tabs of the Controller Configuration Editor screen:
Tab Name Description
Communication Settings Allows you to configure the connection between SoMachine and the controller.
For more information, refer to the CoDeSys online help.
Applications (see page 67) Shows the applications currently running in the controller and allows you to remove
applications from the controller.
Files File management between the PC and the controller.
PLC Settings
(see page 68)
Allows the configuration of the outputs fallback.
Services (see page 70) Allows configuring on-line services of the controller (RTC, device identification).
Status Displays device-specific status and diagnostic messages.
Information Displays general information on the device (name, description, provider, version,
image).
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Managing the M238 Controller Applications
Overview
The figure below show the Applications tab:
This dialog box serves to scan and to remove applications on the Controller.
Element Description
Applications on the Controller List of the names of applications which have been found
on the Controller during the last scan.
Buttons Refresh List The Controller will be scanned for applications, the list
will be updated.
Remove The application currently selected in the list will be
removed from the Controller.
Remove all All applications will be removed from the Controller.
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M238 Controller Settings
Overview
The figure below show the PLC Settings tab:
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The following table describes the elements of the PLC Settings Tab:
Element Description
Application for I/O handling By default, set to Application because there is only one application in the
controller.
PLC settings Update IO while in
stop
If this option is activated (default), the values of the input channels will be
updated when the Controller is stopped.
Behavior for
outputs in Stop
From the selection list choose one of the following options to configure how the
values at the output channels should be handled in case of Controller stop:
Keep current values: The current values will not be modified.
Set all outputs to default: The default (fallback) values resulting from the
mapping will be assigned.
NOTE: This option is not taken into account for the outputs used by the HSC,
PTO, PWM or Frequency Generator.
Update all
variables in all
devices
If this option is activated, then for all devices of the current Controller
configuration all I/O variables will get updated in each cycle of the bus cycle
task. This corresponds to the option Always update variables, which can be set
separately for each device in the I/O Mapping dialog.
Bus cycle
options
Bus cycle task This configuration setting is the parent for all Bus cycle task parameters used in
the application device tree.
Some devices with cyclic calls, such as a CANopen manager, can be attached
to a specific task. In the device, when this setting is set to Use parent bus cycle
setting, the setting set for the Controller is used.
The selection list offers all tasks currently defined in the Task Configuration of
the active application. The default setting is the MAST task.
NOTE: The selection <unspecified> signifies that the slowest cyclic task
possible is used.
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M238 Controller Services
Services Tab
The tab Services is divided in two parts:
RTC Configuration
Device Identification
The figure below show the Services tab:
NOTE: To have controller information in this tab, you need to be connected with the
controller.
The following table describes the elements of the Services Tab:
Element Description
RTC
Configuration
PLC time Displays the date/time read from the controller. This read-only
field is initially empty. To read and display the date/time in the
controller, click on the Read button.
Local time Allows defining a date and a time which are sent to the
controller by a click on the Write button. A message box
informs the user on the success of the command. Local time
fields are initialized with the current settings of the PC.
Synchronize
with local
date/time
Allows sending directly the current time and date settings of
the PC. A message box informs the user of the success of the
command.
Device Identification Displays the Firmware version, the Boot Version and the
Coprocessor Version of the selected device if connected.
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9
M238 Embedded Functions
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Overview
This chapter describes the embedded functions of the Modicon M238 Logic
Controller.
Each embedded function uses inputs and outputs.
The Modicon M238 Logic Controller with DC power supply has:
14 digital inputs, including 8 fast inputs (see M238 Logic Controller, Hardware
Guide)
10 digital outputs, including 4 fast outputs (see M238 Logic Controller, Hardware
Guide)
The Modicon M238 Logic Controller with AC power supply has:
14 digital inputs, including 8 fast inputs (see M238 Logic Controller, Hardware
Guide)
10 digital outputs, including 6 relay outputs (see M238 Logic Controller,
Hardware Guide)
Topic Page
HSC Embedded Function 72
I/O Embedded Function 74
PTO_PWM Embedded Function 78
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HSC Embedded Function
Overview
The HSC function can execute fast counts of pulses from sensors, encoders,
switches, etc... that are connected to the dedicated fast inputs
There are 2 types of HSC:
Simple type: a single input counter (see M238 Logic Controller, Hardware
Guide).
Main type: a counter that uses up to 4 fast inputs and 2 reflex outputs. (see M238
Logic Controller, Hardware Guide)
Access the Configuration Menu
Follow these steps to access the HSC embedded function configuration window with
the Configuration menu:
Step Description
1 Click on the Configuration menu:
2 Double click on the controller you want.
NOTE: You can also right-click on the controller you want and select Edit
Parameters.
3 In the Task Pane click on Embedded Functions HSC:
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HSC Configuration Window
This figure is a sample HSC configuration window used to configure the HSC:
The following table describes the fields of the HSC configuration window:
For detail information on configuration parameters, refer to M238 HSC choice matrix
(see Modicon M238 Logic Controller, High Speed Counting, M238 HSC Library
Guide).
Mark Action
1 Select the HSC tab to access each of the HSC Configuration window.
2 Select one of these tabs according to the HSC channel you need to configure.
3 After choosing the type of HSC (Simple or Main) you want, use the field Variable to
change the instance.
4 If the parameters are collapsed, you can expand them by clicking the plus signs.
You then have access to the settings of each parameter.
5 Configuration window where the HSC parameters are determined depending on the
mode used.
6 When you click on the IO Summarize button, the IO summary window appears. It
allows to check your configuration I/O mapping.
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I/O Embedded Function
Overview
The embedded I/O selection allows configuring the controller inputs.
The embedded inputs are composed of 8 fast inputs and 6 standard inputs.
The 8 fast inputs are named I0 to I7 and the 6 standard inputs are named I8 to I13.
Follow these steps to access the I/O embedded function configuration window with
the Configuration menu:
Step Description
Parameters.
3 In the Task Pane click on Embedded Functions IO:
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Input Configuration Window
The following window allows you to configure the embedded inputs:
NOTE: For more information on the I/O Mapping tab, refer to the CoDeSys online
help .
76 EIO0000000384 10/2010
When you click on the IO Summarize button, the IO summary window appears. It
allows to check your configuration I/O mapping:
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Configuration Parameters
For each input, you can define:
NOTE: The selection is gray and inactive if the parameter is unavailable.
Parameter Value Description Constraint
Filter No*
1.5 ms
4 ms
12 ms
Reduce the effect of
noise on a controller
input.
Available if Latch and Event are
disabled.
In the other cases, this
parameter is disabled and its
value is No.
Latch No*
Yes
Allows incoming pulses
with amplitude widths
shorter than the
controller scan time to be
captured and recorded.
This parameter is only available
for the fast inputs I0 to I7.
Available if:
Event disabled AND Run/Stop
disabled.
Event No*
Rising edge
Falling edge
Both edges
Event detection This parameter is only available
for the fast inputs I0 to I7.
Available if:
Latch disabled AND Run/Stop
disabled.
Bounce
Filtering
No*
0.004 ms
0.4 ms
1.2 ms
4 ms
Reduces the effect of
bounce on a controller
input.
Available if Latch is enabled or
Event is enabled.
In the other cases, this
parameter is disabled and its
value is No.
Run/Stop No*
Yes
The Run/Stop input can
be used to run or stop a
program in the controller
Any of the inputs can be
configured as Run/Stop, but
only one at a time.
Legend *: Parameter default value
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PTO_PWM Embedded Function
Overview
The PTO embedded function can provide 3 different functions:
PTO The PTO (Pulse Train Output) implements digital technology (see M238 Logic
Controller, Hardware Guide) that provides precise positioning for open loop
control of motor drives.
PWM The PWM (Pulse Width Modulation) function generates a programmable
square wave signal on a dedicated output (see M238 Logic Controller, Hardware
Guide) with adjustable duty cycle and frequency.
FG The FG (Frequency Generator) function generates a square wave signal on
dedicated output (see M238 Logic Controller, Hardware Guide) channels with a
fixed duty cycle (50%).
Follow these steps to access the PTO_PWM embedded function configuration
window with the Configuration menu:
Step Description
Parameters.
3 In the Task Pane click on Embedded Functions PTO_PWM:
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PTO_PWM Configuration Window
This figure is a sample PTO_PWM configuration window used to configure a PTO,
PWM or FG:
80 EIO0000000384 10/2010
The following table describes the fields of the PTO_PWM configuration window:
For detail information on configuration parameters, refer to:
PTO configuration. (see Modicon M238 Logic Controller, Pulse Train Output,
Pulse Width Modulation, M238 PTOPWM Library Guide)
PWM and FG configuration. (see Modicon M238 Logic Controller, Pulse Train
Output, Pulse Width Modulation, M238 PTOPWM Library Guide)
Mark Action
1 Select the PTO tab to access each of the PTO_PWM Configuration window.
2 Select one of these tabs according to the PTO_PWM channel you need to
configure.
3 After choosing the type of PTO_PWM (PTO, PWM or Frequency Generator) you
want, use the field Variable to change the instance name.
4 If the parameters are collapsed, you can expand them by clicking the plus signs.
You then have access to the settings of each parameter.
5 Configuration window where the embedded function is used for:
a PTO (see Modicon M238 Logic Controller, Pulse Train Output, Pulse Width
Modulation, M238 PTOPWM Library Guide)
a PWM (see Modicon M238 Logic Controller, Pulse Train Output, Pulse Width
Modulation, M238 PTOPWM Library Guide)
a Frequency Generator (see Modicon M238 Logic Controller, Pulse Train
Output, Pulse Width Modulation, M238 PTOPWM Library Guide)
6 When you click on the IO Summarize button, the IO summary window appears. It
allows to check your configuration I/O mapping.
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10
Expansion Modules Configuration
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Adding Expansion Modules
Introduction
In your project, you can add analog, digital, high-speed counting and AS-Interface
expansion modules to a controller.
Use the GetRightBusStatus (see Modicon M238 Logic Controller,
System Functions and Variables, M238 PLCSystem Library Guide)
function regularly to monitor the expansion bus status.
Expansion Module Configuration
For more information about modules configuration, refer to the hardware and
programming guides of each Expansion Module:
Expansion Module Programming Guide Hardware Guide
TM2 Digital I/O Modules TM2 I/O Modules Configuration
Programming Guide (see Modicon
TM2, Expansion Modules
Configuration, Programming
Guide)
TM2 Digital I/O Modules Hardware
Guide (see Modicon TM2,
Digital I/O Modules, Hardware Guide)
TM2 Analog I/O Modules TM2 I/O Modules Configuration
Guide)
TM2 Analog I/O Modules Hardware
Guide (see Modicon TM2,
Analog I/O Modules, Hardware Guide)
TM2 High-Speed Counting Modules TM2 I/O Modules Configuration
Guide)
TM2 High Speed Counter Modules
Hardware Guide (see Modicon TM2,
High Speed Counter Modules,
Hardware Guide)
AS-Interface Communication Module Modicon M238 Logic Controller
Programming Guide (see page 88)
AS-Interface Master Communication
Module Hardware Guide (see Modicon
TWDNOI10M3, AS-Interface
Master Module, Hardware Guide)
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Maximum Number of Expansion Modules
Up to 7 expansion modules can be added to the Controller.
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11
CANopen Configuration
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CANopen Interface Configuration
To configure the CAN bus of your controller, proceed as follows:
Step Action
1 Select the Configuration tab and double-click the controller:
2 Click the Communication entry on the left hand side of the screen.
3 Click the CAN entry.
4 Click the Physical Settings entry.
Result: The tabbed configuration dialog box for CANopen networks is
displayed on the right hand side of the screen.
5 Configure the baudrate (by default: 250000 bits/s):
NOTE: The Online Bus Access option allows you to block SDO and NMT
sending through the status screen.
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CANopen Manager Creation and Configuration
To create and configure the CANopen Manager, proceed as follows:
Refer to the CoDeSys online help..
Step Action
1 Click the Protocol Settings entry and select CANopen Optimized:
2 Click the Add and close button.
Result: The CANopen Manager configuration window appears:
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Adding a CANopen Device
To add a CANopen slave device, refer to Adding Slave Devices to a Communication
Manager (see SoMachine, Programming Guide). Refer to the CoDeSys online help.
CANopen Operating Limits
The Modicon M238 Logic Controller CANopen master has the following operating
limits:
Maximum number of slave devices 16
Maximum number of Received PDO (RPDO) 32
Maximum number of Transmitted PDO (TPDO) 32
WARNING
Do not connect more than 16 CANopen slave devices to the controller
Program your application to use 32 or fewer Transmit PDO (TPDO)
Program your application to use 32 or fewer Receive PDO (RPDO)
equipment damage.
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12
AS-Interface Configuration
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Overview
This chapter explains how to configure and use the AS-Interface Master Module,
and the module limitations.
Topic Page
Presentation of the AS-Interface V2 Fieldbus 88
General Functional Description 89
Software Setup Principles 92
Add an AS-Interface Master Module 93
Configure an AS-Interface Master 97
Add an AS-Interface Slave 101
Configure an AS-Interface Slave 108
Automatic Addressing of an AS-Interface V2 Slave 112
Modification of Slave Address 113
System Diagnostic in Online Mode 115
Programming for the AS-Interface V2 Fieldbus 118
Configuration of a Replaced AS-Interface V2 Slave 120
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Presentation of the AS-Interface V2 Fieldbus
Introduction
The AS-Interface Fieldbus (Actuator Sensor-Interface) allows the interconnection on
a single cable of sensor devices and actuators, with the lowest level of automation.
These sensors/actuators will be defined in this documentation as slave devices.
NOTE: For more information about the TWDNOI10M3 expansion module, refer to
the TWDNOI10M3 Communication Module Hardware Guide (see Modicon
TWDNOI10M3, AS-Interface Master Module, Hardware Guide)
NOTE: All terms and definitions used in this chapter and throughout the document
concerning AS-Interface are those as defined by the AS-Interface Association
Specification version 2.11.
AS-Interface V2 Fieldbus
The AS-Interface Master module TWDNOI10M3 expansion module includes the
following functionality:
M3 profile: This profile includes all the functionality defined by the AS-Interface
V2 standard
One AS-Interface channel per module
Automatic addressing for the slave with the physical address set to 0
Management of profiles and parameters
Protection from polarity inversion on the bus inputs
The AS-Interface Fieldbus then allows:
Up to 31 standard address or 62 extended address slaves
Up to 248 inputs and 186 outputs
Up to 8 analog slaves (maximum of four analog channels per slave)
A cycle time of 10 ms maximum
A maximum of 2 TWDNOI10M3 expansion modules can be connected to a M238.
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General Functional Description
General Introduction
For the AS-Interface configuration, SoMachine software allows the user to:
Manually configure the bus (declaration of slaves and assignment of addresses
on the bus)
Automatically configure the bus (by using the Scan Network and Copy to
project command)
Adapt the configuration according to what is present on the bus
Acknowledge the slave parameters
Control bus status
AS-Interface Master Structure
The AS-Interface module includes data fields that allow you to manage the lists of
slaves and the images of input / output data.
The figure below shows TWDNOI10M3 module architecture.
Configuration /
Identification
Parameters
current
I/O data
LDS
LAS
LPS
1
2
3
4
5
6
AS-Interface bus
LPF
7
TWDNOI10M3
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The following table describes the data field stored in volatile memory:
Structure of Slave Devices
The standard address slaves each have:
4 input/output bits
4 parameter bits
The slaves with extended addresses each have:
4 input/output bits (the last bit is reserved for inputs only)
3 parameter bits
Each slave has its own address, profile and sub-profile (defines variables
exchange).
Address Item Description
1 I/O data
(IDI, ODI)
Input/Output Data Image
Images of 248 inputs and 186 outputs of AS-
Interface V2 Fieldbus, configured in
SoMachine and detected on the bus.
2 Current parameters
(PI, PP)
Parameter Image / Permanent Parameter.
Image of the parameters of all the slaves.
3 Configuration / Identification
(CDI, PCD)
This field contains all the I/O codes and the
identification codes for all the slaves detected.
4 LDS List of Detected Slaves.
List of all slaves detected on the Fieldbus.
5 LAS List of Active Slaves.
List of slaves activated on the Fieldbus.
6 LPS List of Projected Slaves.
List of slaves configured with SoMachine.
7 LPF List of Peripheral Faults.
List of slaves determined to have generated
peripheral errors.
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The figure below shows the structure of an extended address slave:
The following table describes the data of the structure:
Address Item Description
1 Input/output
data
Input data is stored by the slave and made available for the
AS-Interface master.
Output data is updated by the master module.
2 Parameters The parameters are used to control and switch internal
operating modes to the sensor or the actuator.
3 Configuration/
Identification
This field contains:
the I/O configuration code (IO code)
the slave identification code (ID code)
the slave extended identification codes (ID1 and ID2 codes)
4 Address Physical address of slave.
Note: The operating parameters, address, configuration and identification data are saved in
a non-volatile memory.
AS-Interface slave
I/O data
Parameters
Configuration/
Identification
Address
1
2
3
4
D0
(D3)
P0
AS-Interface bus
P2
Input Bit Only
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Software Setup Principles
At a Glance
To respect the operating principles adopted in SoMachine software, the user should
adopt a step-by-step approach for creating an AS-Interface application.
Setup Principle
The following table shows the software implementation phases of the AS-Interface
Fieldbus.
NOTE: The declaration and deletion of the AS-Interface Master module on the
expansion bus is the same as for other expansion modules. However, once two AS-
Interface Master modules have been declared on the expansion bus, SoMachine
will not permit any other AS-Interface Master modules to be declared.
Considerations Prior to Connection
You must ensure that all slaves have a unique address. In addition, the address of
0 is reserved for automatic addressing mode. If there is a slave with an address of
0 detected on the bus at start-up, the master will change to the offline phase and try
to restart. You must ensure that all addresses are unique and that none are 0.
Mode Phase Description
Logged out Declaration of module
(see page 93)
Choice of the slot for the AS-Interface Master
module TWDNOI10M3 on the expansion bus.
Declaration of slave
devices (see page 115)
Selection for each device:
of its address on the bus
of its profile
Logged out
or logged in
Programming
(see page 118)
Programming diagnostic functions with the
IoDrvASI (see page 184) library.
Logged in Transfer Transfer of the application to the controller.
Diagnostic / Debugging
(see page 115)
Debugging the application with the help of:
the SoMachine interface to display slaves (address,
profile), and to assign them the desired addresses.
WARNING
Ensure that each slave has a unique address greater than 0.
equipment damage.
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Add an AS-Interface Master Module
Introduction
This section shows you how to add a TWDNOI10M3 module to a Modicon M238
Logic Controller configuration.
Add a TWDNOI10M3 Master Module
There are 2 methods to add an AS-Interface with SoMachine:
Using the Configuration menu
Using the Program menu
To add an AS-Interface Master module using the SoMachine Configuration menu,
complete the following steps:
Step Action
1 Go to the Configuration menu of SoMachine:
2 Click on Add Expansion Module:
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3 In the Vendor field: choose Schneider Electric.
Click on Communication Expansion Modules TWDNOI10M3.
Click on the Add and close button.
Step Action
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To add an AS-Interface Master module with the SoMachine Program menu,
Step Action
1 Go to the Program menu of SoMachine:
2 In the device tree of the Devices window of SoMachine: right-click on the Controller,
then select Add Device.
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3 In the Vendor field, choose Schneider Electric.
Click on Communication Expansion Modules TWDNOI10M3.
Click on the Add Device button.
4 Click on the Close button to return to the SoMachine interface.
Step Action
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Configure an AS-Interface Master
Introduction
This section shows you how to configure an AS-Interface Master.
Access the Configuration Window
There are 2 methods to access the AS-Interface Master module configuration
window:
NOTE: Only the access method is different. In each case, you will obtain the same
configuration window.
To access the configuration window via the SoMachine Configuration menu,
Step Action
2 Double click on your controller and select Communication ASi Master Device
Physical Settings on the menu pane of the SoMachine software:
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To access configuration window via the SoMachine Program menu, complete the
following steps:
Step Action
2 In the device tree of the Devices window, right click on the AS-Interface expansion
module, then click Edit Object.
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Description of the Configuration Window when Logged Out
The configuration window of the AS-Interface Master gives you access to the
Automatic addressing parameters.
Tab Name Configuration Window Description
ASi Master
Configuration
Enable automatic addressing (selected by default): Activate this option to enable automatic
addressing. For more information, refer to Automatic Addressing of an AS-Interface V2 Slave
(see page 112).
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ASi Slave
Device I/O
Mapping
This configuration window contains the following fields:
Channels
IEC Objects
Bus cycle options
For more information about I/O mapping, refer to the CoDeSys online help.
Status This tab provides status information (for example Running, Stopped) and device-specific
diagnostic messages.
Information If available for the current module, the following general information will be displayed: Name,
Vendor, Type, Version Number, Categories, Order Number, Description, Image.
Tab Name Configuration Window Description
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Add an AS-Interface Slave
Introduction
This section shows you how to add 1 or more slave devices to a TWDNOI10M3
module.
There are 3 methods to add a slave device to an AS-Interface Master module:
Catalog: when using Schneider electric devices
Generic Slave: when using third-party devices
Scan for Devices: quickly and easily configure an already existing bus
NOTE: You may use steps from each of these methods during configuration.
Add a Slave Device using SoMachine software Catalog
The SoMachine catalog lists the Schneider Electric AS-Interface slave devices by
their reference name.
NOTE: The profile of each slave device is pre-configured and cannot be modified.
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The procedure below shows you how to add slave devices using the SoMachine
software catalog:
Step Action
2 In the Devices window, the device tree of the SoMachine, right-click on the
ASi_Master module, then select Add Device:
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3 In the Vendor field, choose <All Vendors> or filter on the desired vendor. Click
on Fieldbuses AS-Interface AS-Interface Slave. Choose your AS-
Interface Slave and click the Add Device button.
4 With the Add Device utility window remaining open, add all desired AS-
Interface slave devices.
When finished, click the Close button.
Step Action
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Add a Slave Device with the Scan For Devices Command
The Scan For Devices command will search all AS-Interface Slave devices
connected to the TWDNOI10M3 master module. This function requires that the
master module is configured before executing the Scan For Devices command.
The procedure below shows you how to add slave devices with the SoMachine
software Scan For Devices command:
Step Action
1 Log in to your Controller.
NOTE: Only the right-bus configuration including your master module must be
correctly set up for this step. No application program is needed.
2 In the Devices window, the device tree of the SoMachine, right-click on the ASi
Master module, then select Scan For Devices:
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3 Slave devices detected on the Fieldbus are displayed with their address and profile.
Click on the Scan Devices button to refresh the list of slaves.
4 Activate the checkbox show only differences to project. This will display only the
mismatching devices (physical versus configured).
The Status column can accept the following values:
OK: If address and profile are matching.
Configuration Mismatch: if there is a matching address and a mismatching
profile.
New: a slave is detected on the Fieldbus but there is no slave device at this
address in the configuration.
5 If necessary, modify the addresses under the column Address of the Scan
Devices window. Click the Set Address button to readdress the selected slave
with a new address (see page 113).
6 Click on the Copy to project button.
The Copy to project function allows you to copy a slave detected on the network
to the project Device tree. You can select several slaves using SHIFT+click, then
use the Copy to project button to copy all selected devices to the project Device
tree. Slaves with the same address will be overwritten
Your project is now updated with all connected slave devices under the Device tree.
You need to download the application again to make these changes operational.
7 If you want to add another AS-Interface slave, connect it to your Fieldbus and run
a new scan (Step 3).
Step Action
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Manually Add a Generic Slave Device
If you want to manually configure your AS-Interface Slave device, you can add a
generic AS-Interface Slave and configure its profile.
This procedure is similar to the catalog method, but in this case you must choose a
special device from the list.
The procedure shows you how to add generic slave devices to your project:
Step Action
2 In the Devices window, the device tree of the SoMachine, right-click on the ASi
Master module, then select Add Device:
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3 Select the devices named 0/Generic ASi slave in the list:
Click on the Add Device button.
4 Configure your Asi Slave (see page 108).
5 The Add Device utility window remains open and allows you to add all desired
AS-Interface Slave devices.
When finished, click the Close button.
Step Action
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Configure an AS-Interface Slave
Introduction
This document shows you how to configure a slave connected to the TWDNOI10M3
module.
Access the Configuration Window
There are 2 methods to access to the AS-Interface slave configuration window:
NOTE: Only the access method is different. In each case, you will obtain the same
To access configuration window with the SoMachine software Configuration menu,
Step Action
2 To access the configuration window of your AS-Interface Slave module, you can:
Double-click on the AS-Interface Slave module you want.
Right-click on the ASi_Slave module you want, and click Edit Parameters on
the menu.
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To access configuration window with the SoMachine software Program menu,
Description of the AS-Interface Slave Configuration Window
The AS-Interface Slave Configuration tab provides access to all relevant slave
configuration data: address, profile and parameters. For devices from the catalog,
profile information is greyed out, and not available for modification.
Every slave must have a unique address. It can have any value from 1A to 31A and
1B to 31B (B addresses are only allowed with extended addressing slaves). In total,
no more than 62 slaves are allowed. The slave profile determines if standard or
extended addressing is available. For some slaves, more than one address is
needed.
Step Action
2 In the device tree of the Devices window, right click on the desired AS-Interface
Slave device, then click Edit Object. You can also access the configuration window
by double-clicking on the AS-Interface Slave device.
WARNING
Ensure that each slave has a unique address greater than 0.
equipment damage.
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The configuration window is shown below:
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The table below describes the AS-Interface Slave Configuration window fields:
NOTE: The profile and parameters of a slave are not associated with a name.
Several slaves with different names can have the same profile and parameters.
Description of the AS-Interface Slave I/O Mapping Window
The AS-Interface Slave I/O Mapping tab allows you assign project variables to the
AS-Interface outputs or inputs.
NOTE: For more information about these fields, refer to the CoDeSys online help.
Field Name Field Description
Address In this field the slave address has to be set.
Use the Browser Button [...] to open a choice of available AS-Interface addresses not yet used
by slave configurations in the project.
Profile Use this selection list to configure the AS-Interface Slave profile:
IO-Code: Defines the I/O configuration of the slave. There are16 different I/O configuration
modes available from 00 hex (4 Inputs) to 0F hex (Tristate).
Id Code0..2: Used for further distinction of slaves with the same I/O configuration.
Parameter Use either the selection list or the check boxes to set the configured parameters (AS-interface
Permanent Parameters) of the slave. The slave profile defines if parameters are being used
and, if so, the meaning of each parameter.
Project Slave Clicking on the Project Slave button sends the parameter bits to the slave (when logged in).
To change slave parameters without downloading the entire application, you can set the new
parameters and then press the Project Slave button. The new parameters will be written to the
Parameter Image table.
NOTE:
Slave parameters changes through the Project Slave button are only written into the slave. The
changes are not written in the controller current application, and will be overwritten by a reset or
reboot.
If you wish your changes to persist through a reset, update the current application by selecting
Download in the Online menu.
If you wish your changes to persist through a reboot, the Boot application (see SoMachine,
Programming Guide) must also be updated.
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Automatic Addressing of an AS-Interface V2 Slave
At a Glance
Each slave on the AS-Interface Fieldbus must be assigned (via configuration) a
unique physical address. This must be the same as the one declared in SoMachine.
The AS-interface Automatic addressing function is supported by the master,
allowing you to:
replace a slave indicating an error
insert a new slave
The new slave with physical address 0 will be automatically written with the address
of a missing or unresponsive slave, if their profile and parameters match.
Procedure
The table below lists the steps required to set the Automatic addressing
parameter.
Step Action
1 There are 2 methods of accessing to the TWDNOI10M3:
Click on the Configuration Tab, then double-click on your AS-Interface
Slave device. On the menu pane, select Communication ASi Master
Device Physical Settings
Click on the Program Tab, then double-click on your ASi_Master in the
device tree of the Devices window.
2 Click on the Enable automatic addressing check box (if not already selected)
found in the ASi Master Configuration tab:
Result: The Enable automatic addressing function is activated (box
checked) or disabled (box not checked).
NOTE: By default, the Automatic addressing parameter is selected in the
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Modification of Slave Address
At a Glance
From the Scan Devices interface, you can modify the address of a slave.
Modification of Slave Address
The following table shows the steps required to modify a slave address:
Step Description
1 Log in to your Controller.
NOTE: Only the right-bus configuration from your master module must be
correctly set up at this step. No application program is needed.
2 In the Devices window, the device tree of SoMachine, right-click on the ASi
Master module, then select Scan For Devices:
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3 In the Scan Devices window, select an available slave address under the list
box.
The addresses already used by another slave are noted as used under the list
box.
NOTE: Address 0 is not proposed in the drop-down list because a slave should
not be changed to an address of 0 normally (0 being used for fast device
replacement). However, it is possible to do so manually by writing the value 0
in the address field.
If Automatic addressing is enabled, the slave set to 0 address will be
immediately reassigned to another address.
4 The new address is displayed in blue until you click on the Set Address button
to confirm.
Click on Scan Devices to refresh the window and see the modification (new
address is shown in black).
5 Exit the Scan Devices window (click on the Close button).
Step Description
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System Diagnostic in Online Mode
Introduction
The SoMachine interface dynamically provides an image of the physical bus when
the controller containing the user application is connected to the PC. This image
includes:
Status of the AS-Interface master module and the configured slave devices (in
device tree of Devices window, and in Status tab of each device editor)
Image of the detected slaves on the bus (Scan for devices) (see page 104).
Diagnostic in Devices Window
Under the device tree of the Devices window, you can obtain a quick overview of
the AS-Interface Slaves status:
The status of each slave is indicated by an icon:
Green icon: parameters are OK. Device is operational.
Red icon: detected error in the device configuration. To get more information, go
to the Status tab of the device editor.
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Diagnostic of AS-Interface Master Device when Logged In
The Master device configuration window when logged in is shown in the following
tables:
ASi Master
Configuration
When you are logged in, a new field named Status Flags appears:
Enable automatic addressing: Activate this option to enable automatic
addressing. For more information, refer to Automatic Addressing of an AS-
Interface V2 Slave (see page 112).
The Status Flags section shows the current state of the master:
Config OK: Target and actual configuration match.
Slave with Address 0 present: The master module has detected one
slave module with the address 0. This address is typical of a new slave
module with factory configuration.
AS-Interface Power failure: AS-Interface system power is low. Check
your AS-interface power supply.
Periphery failure: A periphery error has been detected. Read LPF (List
of Peripheral Fault) to search for the affected device(s).
Automatic addressing enabled: The automatic addressing function is
enabled.
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Diagnostic of AS-Interface Slave Device in Online Mode
The slave device configuration window is shown below:
Status This tab of the Configuration Editor provides information about the status
of an AS-Interface Master device.
The fields of this tab show status information (for example n/a, Running,
Stopped).
Status This tab of the Configuration Editor provides information about the status
of an AS-Interface Slave device:
The fields of this tab show status information (for example n/a, Running,
Stopped).
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Programming for the AS-Interface V2 Fieldbus
Introduction to the IoDrvASI Library
The IoDrvASI (see page 183) library includes a Function and some
Function Blocks that allow you to operate the AS-Interface Fieldbus in the
application.
This library is automatically included in your SoMachine when you add a
TWDNOI10M3 expansion module. If the library is not included in your project, add it
through the Add Library command. The library is located under the
Communication category.
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Function
The IoDrvASI library includes the following function:
Function Blocks
The IoDrvASI library includes the following function blocks:
Function Name Description
ASI_CheckSlaveBit
(see page 184)
Checks if a bit at a certain offset within the provided array of
ASI status bytes (e.g. LDS, LAS, LPF) is set.
This function is used to extract the information for 1 slave
from ASI_SlaveStatusCheck function block output data.
Returns true if bit is set, otherwise returns false.
Function Block Name Description
ASI_CmdSetAutoAddressing
(see page 185)
Activate/Deactivate the master device with the automatic
addressing mode.
ASI_CmdSetDataExchange
(see page 187)
Enable data exchange between master and slave devices.
ASI_CmdSetOfflineMode
(see page 189)
Set the bus in offline mode.
ASI_MasterStatusCheck
(see page 191)
Provide master flags, which indicate the state of the master.
ASI_SlaveAddressChange
(see page 193)
Replace current slave address by a new user-determined
address.
ASI_SlaveParameterUpdate
(see page 195)
Update the image of the slave device.
ASI_SlaveStatusCheck
(see page 197)
Provides information about slave devices (LAS, LDS, LPF).
ASI_ReadParameterImage
(see page 199)
Read or refresh the parameter image table.
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Configuration of a Replaced AS-Interface V2 Slave
Automatic Configuration
When a slave must be replaced, it can be automatically replaced with a slave with
the same AS-Interface profile.
This happens without the AS-Interface V2 Fieldbus having to stop, and without
requiring any manipulation if the configuration mode's Automatic addressing utility
is active (see page 112).
The replacement slave must initial have the address 0 (a new slave is usually factory
set with a default address of 0), and the same profile as the slave it will replace. It
will automatically assume the address of the replaced slave once installed, and will
then be inserted into the list of detected slaves (LDS) and the list of active slaves
(LAS).
Manual Configuration
Alternative options without automatic addressing are available:
You can configure the replacement slave with the same address as the slave it
will replace using the pocket programmer. As previously noted, the replacement
must have the same product reference number and the same profile and sub-
profile of the slave to replace. It is thus automatically inserted into the list of
detected slaves (LDS) and into the list of active slaves (LAS). This feature is
available only if one, and not more than one, slave is inoperative.
Change the address using the Scan For Devices window (see page 101).
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13
Modicon M238 Logic Controller Serial Line Configuration
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Serial Line Configuration
Overview
This chapter explains the Serial Lines configuration of the Modicon M238 Logic
Controller (supported managers, Serial Line type, parameters, etc.).
Topic Page
Serial Lines Configuration 122
ASCII Manager 125
SoMachine Network Manager 128
Modbus IOScanner 129
Modbus Manager 138
Adding a Modem to a Manager 143
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Serial Lines Configuration
Introduction
The Serial Line configuration window allows you to configure the physical
parameters of serial line (baud rate, parity, etc.).
Serial Line Configuration for TM238LDD24DT and TM238LDA24DR
To configure the Serial Line, proceed as follows:
Step Action
1 Select the Configuration tab and double-click on the controller.
2 Click the Communication Serial Line entry on the left hand side.
Result: The configuration window is displayed.
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The following parameters must be identical for each serial device connected to the
port:
Serial Line Configuration for TM238LFDC24DT and TM238LFAC24DR
To configure the Serial Line 1 and Serial Line 2, proceed as follows:
Element Description
Baud rate Transmission speed
Parity Used for error detection
Data bits Number of bits for transmitting data
Stop bits Number of stop bits
Physical Medium Specify the medium to use:
RS485 (using polarization resistor or not)
RS232
NOTE: Two line polarization resistors are integrated in the controller,
they are switched on or off by this parameter.
Step Action
2 Click the Communication Serial Line 1 entry on the left hand side.
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The following parameters must be identical for each serial device connected to the
port:
4 Click the Communication Serial Line 2 entry on the left hand side.
Element Description
Baud rate Transmission speed
Parity Used for error detection
Data bits Number of bits for transmitting data
Stop bits Number of stop bits
Physical Medium Specify the medium to use:
SL1: select RS485 (using polarization resistor or not) or RS232
SL2: only RS485 is available
Step Action
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ASCII Manager
Introduction
The ASCII Manager is used to transmit and/or receive data with a simple device.
Adding the Manager
To add a Manager on Serial Line, proceed as follows:
Step Action
2 For the TM238LDD24DT and TM238LDA24DR: click the Communication
Serial Line entry on the left hand side.
For the TM238LFDC24DT and TM238LFAC24DR: click the Communication
Serial Line 1 or Serial Line 2 entry on the left hand side.
3 Click the Protocol Settings entry.
4 Click the Remove/Change Protocol button.
Select the ASCII_Manager object and click Add and close:
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Configure the Manager
To configure the ASCII Manager of your controller, proceed as follows:
Step Action
Result: The ASCII_Manager configuration window is displayed.
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Set the parameters as described in the following table:
NOTE: In the case of using several frame termination conditions, the first condition
to be TRUE will terminate the exchange.
Adding a Modem
For more details about how to add a Modem to the ASCII Manager, refer to the
Adding Modem to a Manager section (see page 143).
Parameter Description
Start Character If 0, no start character is used in the frame. Otherwise, in Receiving
Mode the corresponding character in ASCII is used to detect the
beginning of a frame. In Sending Mode, this character is added at the
beginning of the frame.
First End
Character
If 0, no first end character is used in the frame. Otherwise, in Receiving
Mode the corresponding character in ASCII is used to detect the end of a
frame. In Sending Mode, this character is added at the end of the frame.
Second End
Character
If 0, no second end character is used in the frame. Otherwise, in
Receiving Mode the corresponding character in ASCII is used to detect
the end of a frame. In Sending Mode, this character is added at the end
of the frame.
Frame Length
Received
If 0, this parameter is not used. This parameter allows the system to
conclude an end of frame at reception, when the controller received the
specified number of characters.
NOTE: This parameter cannot be used simultaneously with Frame
Received Timeout (ms).
Frame Received
Timeout (ms)
If 0, this parameter is not used. This parameter allows the system to
conclude the end of frame at reception after a silence of the specified
number of ms.
Serial Line
Settings
Parameters specified in the Serial Line configuration window
(see page 122).
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SoMachine Network Manager
Introduction
The SoMachine Network Manager must be used if you want to exchange variables
with a XBTGT/XBTGK device using the SoMachine software protocol, or when the
Serial Line is used for SoMachine programming.
Adding the Manager
There is no configuration for SoMachine Network Manager.
Adding a Modem
For more details about how to add a Modem to the SoMachine Network Manager,
refer to the Adding Modem to a Manager section (see page 143).
Step Action
Select the SoMachine-Network_Manager object and click Add and close:
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Modbus IOScanner
Introduction
The Modbus IOScanner is used to simplify exchanges with Modbus slave devices.
Adding the Manager
Step Action
Select the Modbus IOScanner object and click Add and close:
130 EIO0000000384 10/2010
To configure a Modbus IOScanner on Serial Line, proceed as follows:
Step Action
Result: The configuration window is displayed:
Element Description
Transmission Mode Specify the transmission mode to use:
RTU: uses binary coding and CRC error-checking (8 data
bits)
ASCII: messages are in a ASCII format, LRC error-checking
(7 data bits)
This parameter must be identical for each Modbus device on
the link.
Response Timeout (ms) Timeout used in the exchanges.
Time between frames (ms) Time to avoid bus-collision.
This parameter must be identical for each Modbus device on
the link.
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Adding a Device on the Modbus IOScanner
To add a device on the Modbus IOScanner, proceed as follow:
Step Action
2 Click the available port of the Modbus IOScanner Fieldbus in the graphical
configuration editor:
3 The Add Object window appears:
Click the device to add and click the Add and close button.
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Configure a Device Added on the Modbus IOScanner
To configure the device added on the Modbus IOScanner, proceed as follow:
To configure the Modbus Channels, proceed as follow:
Step Action
2 In the graphical configuration editor, double-click on the device.
Result: The configuration window will be displayed.
3 Enter a Slave Address value for your device (choose a value from 1 to 247).
4 Choose a value for the Response Timeout (in ms).
Step Action
1 Click on the Modbus Slave Channel tab:
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2 To configure an exchange, click on Add Channel button:
In the field Channel, you can add the following values:
Channel: Enter a name for your channel
Access Type: Read or Write or Read/Write multiple registers.
Trigger: Choose the trigger of the exchange. It can be either CYCLIC with
the period defined in Cycle Time (ms) field or started by a RISING EDGE on
a boolean variable (this boolean variable is then created in the 'Modbus
Master I/O Mapping' tab)
Comment: Add a comment about this channel
Step Action
134 EIO0000000384 10/2010
To configure your Modbus Initialization Value, proceed as follow:
2 bis In the field READ Register (if your channel is a Read or a Read/Write one), you
can configure the %MW to be read on the Modbus slave. Those addresses will
be mapped on %IW (see 'Modbus Master I/O Mapping' tab):
Offset: Offset of the %MW to read. 0 means that the first object that will be
read will be %MW0
Length: Number of %MW to be read. For example if 'Offset' = 2 and 'Length'
= 3, the channel will read %MW2, %MW3 and %MW4
Error Handling: choose the behavior of the related %IW in case of loss of
communication
In the field WRITE Register (if your channel is a Write or a Read/Write one), you
can configure the %MW to be written to the Modbus slave. Those addresses will
be mapped on %QW (see 'Modbus Master I/O Mapping' tab):
Offset of the %MW to write. 0 means that the first object that will be written
will be %MW0
Length: Number of %MW to be written. For example if 'Offset' = 2 and
'Length' = 3, the channel will write %MW2, %MW3 and %MW4
3 Click on the Delete button to remove a channel.
Click on the Edit button to change the parameters of a channel.
4 Click OK to validate the configuration of this channel.
Step Action
1 Click on the Modbus Slave Init tab:
Step Action
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2 Click on the button New to create a new initialization value:
The Initialization Value window contains the following parameters:
Access Type: Only Write Multiple Register is allowed
Register Offset: Offset of the %MW that will be initialized
Length: Number of %MW that will be initialized. For example if 'Offset' = 2
and 'Length' = 3, %MW2, %MW3 and %MW4 wil be initialized
Initialization Value: Value the registers are initialized with
Comment: Add a comment about this initialization
3 Click on the Move up button to change the position of an initialization in the list.
Click on the Delete button to remove an initialization in the list.
Click on the Edit button to change the parameters of an initialization.
4 Click OK to create a new Initialization Value.
Step Action
136 EIO0000000384 10/2010
These screenshots show the mapping of the objects generated by the defined
channels. If channels 1 and channels 2 are configured as pictured in the following
two graphics, then, the Modbus Master I/O Mapping is as pictured in the third
graphic below::
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138 EIO0000000384 10/2010
Modbus Manager
Introduction
The Modbus Manager is used for Modbus RTU or ASCII protocol in master or slave
mode.
Adding the Manager
Step Action
Select the Modbus Manager object and click Add and close:
EIO0000000384 10/2010 139
To configure the Modbus_Manager of your controller, proceed as follows:
Step Action
Result: The Modbus_Manager configuration window will be displayed.
Element Description
Transmission
Mode
Specify the transmission mode to use:
RTU: uses binary coding and CRC error-checking (8 data bits).
ASCII: messages are in a ASCII format, LRC error-checking (7 data
bits).
This parameter must be identical for each Modbus device on the link.
Addressing Specify if the M238 device is master or slave.
Address Modbus address of the device.
Time between
frames (ms)
Time to avoid bus-collision.
This parameter must be identical for each Modbus device on the link.
Serial Line
Settings
Parameters specified in the Serial Line configuration window.
140 EIO0000000384 10/2010
Modbus Master
When the controller is configured as a Modbus Master, the following Function Blocks
are supported from the PLCCommunication Library:
ADDM
READ_VAR
SEND_RECV_MSG
SINGLE_WRITE
WRITE_READ_VAR
WRITE_VAR
For further information, see Function Block Descriptions (see SoMachine, Modbus
and ASCII Read/Write Functions, PLCCommunication Library Guide) of the
PLCCommunication Library (see SoMachine, Modbus and ASCII Read/Write
Functions, PLCCommunication Library Guide).
Modbus Slave
When the controller is configured as Modbus Slave, the following Modbus requests
are supported:
NOTE: Only located variables of the controller application can be accessed via
Modbus.
The following table contains the Sub-function codes supported by the diagnostic
Modbus request 08:
Types Function Function Codes
Code/Sub Code
Data Access
(1 Bit)
Physical Discrete
Inputs and Outputs
Read Coils 01
Read Discrete Inputs 02
Write Multiple Coils 15
Data Access
(16 Bits)
Physical Input
Registers
Read Holding Registers 03
Write Single Register 06
Write Multiple Registers 16
Read/Write Multiple Registers 23
Diagnostics Diagnostics 08
Read Device Identification 43/14
Sub-Function Code Function
Dec Hex
10 0A Clear Counters and Diagnostic Register
11 0B Return Bus Message Count
12 0C Return Bus Communication Error Count
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The table below list the objects that can be read with a read device identification
request (basic identification level):
The following section describes the differences between the Modbus memory
mapping of the controller and HMI Modbus mapping. If you do not program your
application to recognize these differences in mapping, your controller and HMI will
not communicate correctly and it will be possible for incorrect values to be written to
memory areas responsible for output operations.
When the controller and the HMI are connected via Modbus (HMI is master of
Modbus requests), the data exchange uses simple word requests.
13 0D Return Bus Exception Error Count
14 0E Return Slave Message Count
15 0F Return Slave No Response Count
16 10 Return Slave NAK Count
17 11 Return Slave Busy Count
18 12 Return Bus Character Overrun Count
Object ID Object Name Type Value
00 hex Vendor code ASCII String Schneider Electric
01 hex Product code ASCII String Controller reference
e.g.
TM238LFDC24DT
02 hex Major / Minor revision ASCII String aa.bb.cc.dd (same as
device descriptor)
WARNING
Program your application to translate between the Modbus memory mapping used
by the controller and that used by attached HMI devices.
equipment damage.
Sub-Function Code Function
142 EIO0000000384 10/2010
There is an overlap on simple words of the HMI memory while using double words
but not for the controller memory (see following diagram). In order to have a match
between the HMI memory area and the controller memory area, the ratio between
double words of HMI memory and the double words of controller memory has to be
2.
The following gives examples of memory match for the double words:
%MD2 memory area of the HMI corresponds to %MD1 memory area of the
controller because the same simple words are used by the Modbus request.
%MD20 memory area of the HMI corresponds to %MD10 memory area of the
controller because the same simple words are used by the Modbus request.
The following gives examples of memory match for the bits:
%MW0:X9 memory area of the HMI corresponds to %MX1.1 memory area of the
controller because the simple words are split in 2 distinct bytes in the controller
memory.
Adding a Modem
For more details about how to add a Modem to the Modbus Manager, refer to the
Adding Modem to a Manager section (see page 143).
Adding the Ethernet Gateway
For more details about how to add a 499TWD01100, refer to the Declaring the
Ethernet Gateway section (see page 146).
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Adding a Modem to a Manager
Introduction
A modem can be added to the following managers:
ASCII Manager
Modbus Manager
SoMachine Network Manager
Adding a Modem to the Manager
To add a Modem, proceed as follows:
For further information, refer to Modem Library (see SoMachine, Modem Functions,
Modem Library Guide).
Step Action
2 Click the available port of the Manager in the graphical configuration editor.
See example below for TM238LFDC24DT and TM238LFAC24DR:
3 The Add object window is displayed.
Click the Modem to add and click the Add and close button.
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14
Ethernet/Modbus Gateway
EIO0000000384 10/2010
499TWD01100 Ethernet/Modbus
Gateway
Connection and Configuration of the Ethernet Gateway
Overview
Configure the Ethernet Gateway module with the following instructions.
For more details about the Ethernet Gateway, refer to the 499TWD01100
Ethernet/Modbus Gateway for M238 Hardware Guide (see 499TWD01100,
Ethernet/Modbus Gateway for M238, Hardware Guide).
NOTE: When the Ethernet Gateway module is configured with the SoMachine
programming software, the module IP configuration is stored in the controller.
Therefore, maintenance personnel can exchange the gateway module without
additional configuration.
Connecting the 499TWD01100 Ethernet Gateway Module
To install the Ethernet gateway on a controller, follow these steps:
Step Description Action
1 Preparation Consult the 499TWD01100 Ethernet/Modbus
Gateway for M238 Hardware Guide
(see 499TWD01100, Ethernet/Modbus Gateway for
M238, Hardware Guide) to have more information
about how to:
know the mounting positions for the module,
add and remove the module from a DIN rail,
mount the module on a panel surface,
respect the minimum clearances for the module in
a control panel.
2 Mounting the
499TWD01100 Module
Install the module on a DIN rail or panel.
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Declaring the 499TWD01100 Ethernet Gateway Module
The table below shows the different steps when declaring the 499TWD01100
gateway module.
3 Protective Ground Attach a grounded wire to the M3 screw terminal on
the bottom of the gateway module.
4 Serial and Ethernet
Connections
Connect the gateway-to-controller XBT Z9980 cable
(supplied) to the serial port of the Ethernet Gateway,
and connect the other end to the appropriate serial
port of the Controller:
SL1 for TM238LDD24DT & TM238LDA24DR
SL2 for TM238LFDC24DT & TM238LFAC24DR
Connect the RJ45 connector from a standard Ethernet
network cable (not supplied) into the Ethernet port of
the Gateway.
Step Description Action
Step Action Comment
1 Click on the Program
menu
-
2 Right click the
Modbus_Manager of
Serial Line and select
Add Device.
Modbus_Manager of SL1 for TM238LDD24DT & TM238LDA24DR
Modbus_Manager of SL2 for TM238LFDC24DT & TM238LFAC24DR
EIO0000000384 10/2010 147
3 Select 499TWD01100
Ethernet Module in the
device list.
4 Click Add Device. A 499TWD01100 node is created in the Devices window.
5 Double click the
499TWD01100 node to
access the configuration
window.
-
Step Action Comment
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Configuring the 499TWD01100 Ethernet Gateway Module
You must carefully manage the IP addresses because each device on the network
requires a unique address. Having multiple devices with the same IP address can
cause unpredictable operation of your network and associated equipment.
To configure Ethernet parameters, follow this procedure:
WARNING
UNINTENTED EQUIPMENT OPERATION
Be sure that there is only one master controller configured on the network or
remote link.
Be sure that all slave devices have unique addresses. Be sure that all slave
devices have unique addresses. You cannot have duplicated addresses.
Obtain your IP address from your system administrator.
Confirm that the devices IP address is unique before placing the system into
service.
Do not assign the same IP address to any other equipment on the network.
equipment damage.
Step Action Comment
1 Double click the 499TWD01100 node to
access the configuration window.
The Ethernet Configuration dialog box appears, as
shown in the example below.
2 Enter the static IP Address for the gateway
in dotted decimal notation.
(See notes 1 and 2.)
-
EIO0000000384 10/2010 149
NOTE:
1. Consult your network or system administrator to obtain valid IP parameters for
your network.
2. Each connected device on an Ethernet network segment must have a unique IP
address. When connected to the network, the gateway runs a check for duplicate
IP address. If a duplicate IP address is located over the network, the STATUS
LED will emit 4 flashes periodically. You must then enter a new duplicate-free IP
address in this field.
3. Unless the gateway has special subnet requirements, use the default subnet
mask.
4. If there is no gateway device on your network, simply enter the gateways IP
address in the Gateway Address field.
3 Enter the valid Subnet mask assigned to
the gateway by your network administrator.
Please note that you cannot leave this field
blank; you must enter a value.
By default, the programming software automatically
computes and displays a default subnet mask based on
the network class that you have provided in the IP Address
field above. Default subnet mask values, according to the
category of the gateway network IP address, follow these
rules:
Class A network -> Default subnet mask: 255.0.0.0
Class B network -> Default subnet mask: 255.255.0.0
Class C network -> Default subnet mask: 255.255.255.0
4 Enter the IP address of the Gateway.
On the LAN, the gateway must be on the same segment as
the 499TWD01100. This information typically is provided to
you by your network administrator. Please note that no
default value is provided by the application, and that you
must enter a valid gateway address in this field.
5 Check and validate your configuration. -
6 Power off the Controller, then power on
again.
A power cycle is required to force the M238 to transfer the
IP address to the 499TWD01100.
Step Action Comment
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15
M238 - Connecting the Modicon M238 Logic Controller to a PC
EIO0000000384 10/2010
Connecting the Modicon M238
Logic Controller to a PC
Connecting the Controller to a PC
Overview
To transfer, run and monitor the applications, connect the controller to a computer,
that has SoMachine installed. Use one of the following USB cables:
TCS XCNA MUM3P : This USB cable is suitable for short duration connection like
quick updates or retrieving data values.
BMX XCA USBH045 : Grounded and shielded, this USB cable is suitable for long
duration connection.
NOTE: You can only connect 1 controller to the PC at the same time.
The USB Mini-B Port is the programming port you can use to connect a PC with a
USB host port using SoMachine software. Using a typical USB cable, this
connection is suitable for quick updates of the program or short duration connections
to perform maintenance and inspect data values. It is not suitable for long term
connections such as commissioning or monitoring without the use of specially
adapted cables to help minimize electromagnetic interference.
WARNING
INOPERABLE EQUIPMENT OR UNINTENDED EQUIPMENT OPERATION
You must use a shielded USB cable such as a BMX XCAUSBH0 secured to
the functional ground (FE) of the system for any long term connection.
Do not connect more than one controller at a time using USB connections.
equipment damage.
152 EIO0000000384 10/2010
The communication cable should be connected to the PC first to minimize the
possibility of electrostatic discharge affecting the controller.
USB Mini-B Port Connection
The following figure shows the USB connection to a PC:
CAUTION
INOPERABLE EQUIPMENT
Always connect the communication cable to the PC before connecting it to the
controller.
Failure to follow these instructions can result in equipment damage.
FAST INPUTS INPUTS
CANopen
SL1 SL2
100-240VAC
TRANSISTOR
OUTPUTS
RELAY OUTPUTS
Prog.
Port
So
Machine
USB
TCSXCNAMUM3P
USB Mini-B
USB
BMXXCAUSBH045
(3 m / 9.8 ft)
USB Mini-B
(4.5 m / 14.8 ft)
EIO0000000384 10/2010 153
To connect the USB cable to your controller, do the following:
Step Action
1 1a If making a long term connection using the cable BMX XCA USBH045, or other
cable with a ground shield connection, be sure to securely connect the shield
connector to the functional ground (FE) or protective ground (PE) of your system
before connecting the cable to your controller and your PC.
1b If making a short term connection using the cable TCS XCNA MUM3P or other
non-grounded USB cable, proceed to step 2.
2 Open the USB cover to have access to the Programming Port:
1 Push horizontally on the USB cover and hold down.
2 Slide the USB cover downward.
3 Connect the USB cable connector to the PC.
4 Connect the Mini connector of your USB cable to the M238 USB connector.
PW
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RU
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SL1
SL2
C
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3
8
2
4
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SL1
SL2
p
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154 EIO0000000384 10/2010
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16
Upgrading an M238 Firmware
EIO0000000384 10/2010
Overview
Detailed instructions are provided for using the M238 Windows ExecLoader to
update the Firmware of your controller.
Topic Page
Upgrading Through Serial Line 156
Upgrading Through USB 159
Launching the Exec Loader Wizard 161
Step 1 - Welcome 162
Step 2 - Settings 163
Step 3 - File and Device Properties 165
Step 4 - Transfer Progress 167
156 EIO0000000384 10/2010
Upgrading Through Serial Line
Introduction
The firmware update through Serial Link is not available for all M238 Product
Versions:
Performing a firmware update will delete the current application program in the
device, including the Boot Application in Flash memory.
If there is a power outage or communication interruption during the transfer of the
application program or a firmware update, your device may become inoperative. If
a communication interruption or a power outage occurs, reattempt the transfer.
Updating the firmware requires one of the following cable:
The TSXCUSB485the VW3 A8 306 Rxx cable
or the TCS MCNA M3M002P cable.
Controller Reference Upgrade through Serial Link Availability
TM238LDD24DT Product Version (PV) < 08
TM238LFDC24DT Product Version (PV) < 08
TM238LFDC24DTSO Product Version (PV) < 02
TM238LDA24DR No serial line update
TM238LFAC24DR No serial line update
CAUTION
LOSS OF APPLICATION DATA
Perform a backup of the application program to the hard disk of the PC before
attempting a firmware update.
Restore the application program to the device after a successful firmware
update.
Failure to follow these instructions can result in injury or equipment damage.
CAUTION
Do not interrupt the transfer of the application program or a firmware update
once the transfer has begun.
Do not place the device into service until the transfer is completed successfully.
EIO0000000384 10/2010 157
This updating procedure is a maintenance operation. It requires that the controller
be disconnected from the systems and applications it effects. The PC and the
controller must stay connected during this operation.
NOTE: If the PC and the controller are unintentionally disconnected during the
firmware update, the controller will not function correctly until a new, successful
firmware update operation is performed.
Installing the USB Cable
Follow these steps to install the TSXCUSB485 cable properly:
Follow these steps to install the TCS MCNA M3M002P cable properly:
Step Action
1 On the TSXCUSB485 adaptor, select the OTHER MULTI mode on rotary switch and
the OFF position for polarization.
2 Connect the TSXCUSB485 adaptor into an USB Port of your PC.
NOTE: On first connection to the computer, it could be required to install the driver
(see below).
3 Connect the VW3 A8 306 Rxx cable to the RJ45 connector of the TSXCUSB485.
4 Connect the second end of the VW3 A8 306 Rxx cable into SL1 port of the Modicon
M238 Logic Controller.
5 Launch the Exec Loader Wizard Serial (see page 161)
Step Action
1 Connect the TCS MCNA M3M002P adaptor into an USB Port of your PC.
NOTE: On first connection to the computer, it could be required to install the driver
(see below).
2 Connect the second end of the TCS MCNA M3M002P cable into SL1 port of the
Modicon M238 Logic Controller.
3 Launch the Exec Loader Wizard Serial (see page 161)
158 EIO0000000384 10/2010
USB Cable Driver Installation
After connection, the USB cable is detected by the PC. If the cable driver is not
installed, a popup saying new hardware has been found is displayed. In this case,
install the driver.
Step Screen Action
1 Found New Hardware
Wizard
Can Windows connect to Windows Update to search for
software?
Select No, not this time and click Next.
2 Found New Hardware
Wizard
What do you want the Wizard to do?
Select Install the software automatically
(Recommended) and click Next.
3 Hardware installation Click continue anyway.
4 Completing the Found
New Hardware Wizard.
Click Finish.
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Upgrading Through USB
Introduction
The firmware update through USB Link is not available for all M238 Product
Versions:
Performing a firmware update will delete the current application program in the
device, including the Boot Application in Flash memory.
If there is a power outage or communication interruption during the transfer of the
application program or a firmware update, your device may become inoperative. If
a communication interruption or a power outage occurs, reattempt the transfer.
Controller Reference Upgrade through USB Availability
TM238LDD24DT Product Version (PV) >= 08
TM238LFDC24DT Product Version (PV) >= 08
TM238LFDC24DTSO Product Version (PV) >= 02
TM238LDA24DR All versions
TM238LFAC24DR All versions
CAUTION
LOSS OF APPLICATION DATA
Perform a backup of the application program to the hard disk of the PC before
attempting a firmware update.
Restore the application program to the device after a successful firmware
update.
Failure to follow these instructions can result in injury or equipment damage.
CAUTION
160 EIO0000000384 10/2010
The Serial Line port(s) of your controller are configured for the SoMachine protocol
by default when new or when you update the controller firmware. The SoMachine
protocol is incompatible with that of other protocols such as Modbus Serial Line.
Connecting a new controller to, or updating the firmware of a controller connected
to, an active Modbus configured serial line can cause the other devices on the serial
line to stop communicating. Make sure that the controller is not connected to an
active Modbus serial line network before first downloading a valid application that
has the concerned port or ports properly configured for the intended protocol.
Before starting the firmware update procedure, ensure you have:
USB cable TCS XCNA MUM3P
This updating procedure is a maintenance operation. It requires that the controller
be disconnected from the systems and applications it effects. The PC and the
controller must stay connected during this operation.
NOTE: If the PC and the controller are unintentionally disconnected during a
firmware update, the controller will not function correctly until a new, successful
firmware update operation is performed.
Installing Cables
Follow these steps to install the cables properly:
NOTE: For more information about connecting USB cable, refer to the M238
Hardware Guide.
CAUTION
Be sure your application has the Serial Line port(s) properly configured for Modbus
before physically connecting the controller to an operational Modbus Serial Line
network.
Step Action
1 Plug the TCS XCNA MUM3P cable to an USB Port of your PC.
2 Plug the second end of the cable to the USB port of the controller.
3 Launch the Exec Loader Wizard USB (see page 161)
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Launching the Exec Loader Wizard
Introduction
The M238 Exec Loader Wizard is a Windows-based wizard that guides you through
the steps necessary to update the firmware in your Schneider Electric controller.
Opening the Exec Loader Wizard
To launch the Exec Loader Wizard, complete the following steps:
Overview of Upgrade Steps
The wizard provides a screen for each step. The following table summarizes the 4
steps required to upgrade your firmware:
Step Action
1 Close all your windows applications, including virtual machines.
2 If the gateway is running, right-click the CoDeSys Gateway SysTray (running)
icon in the task bar and select Stop Gateway.
When the gateway is stopped, the CoDeSys Gateway SysTray (stopped) icon
appears in the task bar:
3 If your Controller and the PC are connected with:
USB Interface, click Start Programs Schneider Electric SoMachine
Tools Exec Loader Wizard USB
Serial Interface, click Start Programs Schneider Electric
SoMachine Tools Exec Loader Wizard Serial
Step Screen Function
1 Welcome
(see page 162)
Introduction to the Exec Loader Wizard.
2 Settings
(see page 163)
Select the correct firmware file to transfer to your controller.
3 File and Device
Properties
(see page 165)
Compare the hardware IDs and the firmware version
information of the firmware file and the controller.
4 Transfer Progress
(see page 167)
Monitor the transfer of the firmware file to the controller.
162 EIO0000000384 10/2010
Step 1 - Welcome
Step 1 - Welcome
The wizard provides a screen for each step. The welcome screen is an introduction
to the Exec Loader Wizard.
To continue:
Select Next to continue the procedure and display the next screen, Step#2
Settings (see page 163).
Select Close to close the screen without changing the firmware on your
controller.
EIO0000000384 10/2010 163
Step 2 - Settings
Selecting Settings
Use these steps to select the appropriate firmware:
Troubleshooting with the TSXCUSB485 cable
If the controller is not detected during Step 2, start the Modbus driver by clicking
Start Programs Schneider Electric Communication Drivers
Modbus Driver.
Double-click the corresponding icon in the task bar to open the Modbus driver
screen, and check that the USB cable is connected to the selected COM port.
Step Action
1 In Settings, click on the Browse button and select the correct file for your controller
model.
Example: C:\Program
Files\Schneider Electric\SoMachine\Firmware\M238\TM238LFDC24DT.mfw
2 Power off the Controller, as indicated on the screen.
3 Select Next.
During the progress bar, turn on the power of the controller.
When the Exec Loader Wizard has successfully opened a connection with the
controller, it goes automatically to step 3 (see page 165).
164 EIO0000000384 10/2010
Modbus Driver screen:
MODBUS Driver - MODBUS01
COM 1
x
Serial Port/Modem
Stop bits
15 ms
Automatic
Configuration RunTime
Debug About
Global TimeOut
3000 ms
Inter-Char TimeOut
Mode (Data bits)t
Phone number
OK
Default Undo Apply
COM3(TSXCUSB485)
COM1
COM Port
Baud Rate
Use Modem
COM2
COM4
RTU [8bits]
ASCII [7bit]
1 Bit
2 Bits
Even Odd
None
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Step 3 - File and Device Properties
Overview
At this step, the following information is checked by the Exec Loader Wizard for both
the firmware file and your controller before the procedure can continue:
Hardware ID - the selected firmware file is correct for the target controller.
Exec Version Number - the selected firmware file is newer than the currently
installed firmware.
Hardware ID
The Hardware ID is a unique identifier for each controller reference:
Green check mark: OK
Red cross: incorrect firmware file. Select a firmware file corresponding to your
controller reference (go back to step 2 (see page 163))
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Exec Version Number
The Exec Version Number identifies the version of the firmware:
Green check mark: you will upgrade your controller to a newer version of the
firmware
Yellow check mark: you will downgrade your controller to an older version of the
firmware or update your controller with the same version of the current firmware
Starting the Transfer
Click on the Next button to start the transfer.
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Step 4 - Transfer Progress
Overview
In this screen you can monitor the transfer progress.
The remaining time information is available after a while.
If Transfer is Successful
If the transfer is successful, a message box is displayed to allow for another transfer.
Two options are available:
Yes - the wizard returns to Step 2 - Settings (see page 163) and you can set up
another transfer.
No - click on the Close button to exit the wizard. This completes the update
procedure.
If Transfer is not successful
If the transfer is interrupted (for example, due to a loss of communication), a
message box is displayed allowing a retry of the transfer. Two options are available:
Yes - the wizard returns to Step 3 - Files and Device Properties (see page 165)
and you can try another transfer.
No - click on the Close button to exit the wizard.
Your controller remains inoperative until a successful transfer has been
accomplished.
CAUTION
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17
Modicon M238 Logic Controller - Troubleshooting and FAQ
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Modicon M238 Logic Controller -
Troubleshooting and FAQ
Topic Page
Troubleshooting 170
Frequently Asked Questions 178
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Troubleshooting
Introduction
This section describes the procedures to troubleshoot your Modicon M238 Logic
Controller.
Transferring the Application is not Possible
Possible causes:
PC cannot communicate with the controller.
Is your application valid?
Is the CoDeSys gateway running?
Resolution:
Refer to the part below (Communication Between SoMachine and the
Modicon M238 Logic Controller (see page 170)).
Your application program must be valid. Refer to the debugging part of the
CoDeSys onlin help.
The CoDeSys gateway must be running:
a. click the CoDeSys Gateway SysTray (stopped) icon in the task bar,
b. select Start Gateway.
Communication Between SoMachine on a Computer and the Modicon M238 Logic Controller is not
Possible.
Possible causes:
Incorrect cable usage.
PLC not detected by the PC.
Communication settings are not correct.
The controller is not operating correctly.
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Resolution:
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Check Action
1 Check that:
the cable is correctly linked to the controller and to the PC and not damaged,
you use the specific cable or adapter depending on the connection type:
TCS XCNA MUM3P cable for an USB connection.
TSX CUSB 485 and an Ethernet cable for a serial line RS485/RS232 connection.
2 Check that the Modicon M238 Logic Controller has been detected by your PC:
1. click Start Control Panel System, select the Hardware tab and click Device Manager,
2. check that the Modicon M238 Logic Controller node appears in the list:
if you use the USB connector:
if you use the serial line through TSXCUSB485:
3. If the Modicon M238 Logic Controller node does not appear or if there is an icon in front of the
node, unplug/plug the cable on the controller side.
LibUSB-Win32 Devices
TM238
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Application program is not executed
Possible causes:
No POU declared in the task.
Resolution:
As POUs are managed by tasks, you must add at least one POU to a task:
1. double click a task in the Devices window,
2. click Add POU in the task window,
3. select the POU you want to execute in the Input Assistant window and click OK.
Possible causes:
Application does not go to RUN state.
One input is configured in RUN/STOP mode.
Resolution:
Use the input configured in RUN/STOP mode to run the application.
3 Check that the active path is correct:
1. double click the Controller node in the Devices window,
2. check that the Modicon M238 Logic Controller node appears in bold and not in italic.
If not:
a. stop the CoDeSys Gateway: right click the CoDeSys Gateway SysTray (running) icon
in the task bar and select Stop Gateway ,
b. unplug/plug the cable on the controller side,
c. start the CoDeSys gateway: right click the CoDeSys Gateway SysTray (stopped) icon
in the task bar and select Start Gateway ,
d. select the gateway in the Controller configuration window of SoMachine and click Scan network.
Select the Modicon M238 Logic Controller node and click Set active path.
NOTE: If the PC is connected to an Ethernet network, the IP address might change. In this case, the
Modicon M238 Logic Controller node appears in italics (the path set to the controller is incorrect).
To refresh the active path:
1. Select the Modicon M238 Logic Controller node
2. Click Resolve Name: if the PC detects the controller on the network, a new path is defined and the node
does not appear in italics anymore
3. Click Set Active Path
4 Refer to the System Diagnostic using LED Display section (see M238 Logic Controller, Hardware Guide).
Check Action
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CoDeSys Gateway does not start (CoDeSys Gateway SysTray icon is black)
Possible cause:
Connection during a long time.
Resolution:
If the CoDeSys Gateway SysTray icon is black (stopped):
1. Open the task Manager,
2. stop the Gatewayservice.exe, and start it again:
Restart your computer or,
in Control Panel, open Administrative Tools and Computer Management,
in Service, double click CoDeSys Gateway,
Click Start Service button.
3. Check if the CoDeSys Gateway SysTray icon is red (running).
Serial Line Communication is not Possible
Possible causes:
Communication settings are not identical between serial line devices.
The controller is not operating correctly.
Resolution:
Check that:
protocol communication settings (baud rate, parity...) are identical for all serial
line devices.
The correct communication manager is added on the Serial Line object:
Modbus manager if the line is used for Modbus protocol,
SoMachine-Network Manager if the line is used for communication to access
IEC variables.
the controller operates correctly. Refer to the System Diagnostic using LED
Display part (see M238 Logic Controller, Hardware Guide).
Creating the Boot Application is not Possible
Possible cause:
Operation not possible while the controller is in RUN state.
Resolution:
Select Stop Application,
Select Create Boot Project.
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PTO Function does not Start
Possible cause:
The AUX input is configured as the Drive Ready input but no signal is being
supplied.
Resolution:
If the AUX variable is set to Drive Ready, check that the drive is correctly
operating
or set the Dis_Drive_Ready variable of the PTOsimple function block to 0.
Changing Device Name do not work
Possible cause:
Application is running.
Resolution:
Select Stop Application,
Change device name.
CANopen Heartbeat is not sent on a regular basis
Possible cause:
The Heartbeat configured value is not a multiple of the CANopen bus Cycle Task
interval.
Resolution:
Change the Heartbeat value to a multiple of the CANopen bus Cycle Task interval.
Monitoring of the POU is slow
Possible cause:
Task interval is too small or the number/size of POUs is too great.
Resolution:
Increase the configured task interval.
Split the application into smaller POUs.
ERR LED is flashing fast on the PLC
Possible cause:
A system error was detected.
Resolution:
Check your application program (pointer management, arrays management, etc...).
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Controller is in HALT State
Possible cause:
The PLC has stopped due to a watchdog event.
Resolution:
If a task watchdog is configured:
a. Run the application without task watchdog
b. Get the maximum task cycle time from the task monitor
c. Set the task watchdog greater than the maximum task cycle time
If a task watchdog is not configured:
If a Cyclic task is configured, increase the cycle time to a value > 1.25 times
the average task time
If several tasks are configured, and one of these is a Freewheeling task, try
reconfiguring the Freewheeling task as a Cyclic task
Possible cause:
The cycle time is extended when the CANopen configurator is called, leading to a
task watchdog exception.
The controller may report a watchdog exception during the following events:
downloading of configuration data to the modules of the network (i.e. when
downloading the application to the controller, after a power-on of the controller
when a boot application is valid, or after a reset warm/cold).
CANopen cables connection may have been disconnected or dislodged.
Resolution:
1. Run the application without task watchdogs
2. Get the maximum task cycle time from the task monitor
3. Set the task watchdog greater than the maximum task cycle time
Possible cause:
A division by 0 is detected in the application program.
Resolution:
Check your application program.
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Source Download leads to Communication Error
The following table describes the possible causes of a communication error during
Source Download:
Possible Cause Resolution
You attempted to download the
source while the controller was in a
RUN state.
Stop the controller before attempting the download.
The source file exceeded the
available memory space in the
controller.
If sending additional files with the source, consider
deselecting them to reduce the overall size of the
download. See Project Project Settings
Source Download Additional Files... in the
SoMachine main menu.
NOTE: The M238 controllers with Product Version >
14 have more available memory for source download.
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Frequently Asked Questions
How can I Determine the Firmware, Boot and Coprocessor Version of the Controller?
In online mode, double click the Controller node in the Devices window. In the
Controller window, select the Services tab. The device identification area gives
information about versions:
What Programming Languages are supported by a Modicon M238 Logic Controller?
Refer to Supported Standard Data Types (see page 21).
What Variable Types are supported by a Modicon M238 Logic Controller?
The following variable types are supported:
BOOL
Integer data types
REAL
STRING
WSTRING
Time data types
When should I use Freewheeling or Cyclic Task Type?
Freewheeling or cyclic task type usage Task Configuration (see page 35):
Freewheeling: use this setting if a variable cycle time is permissible for your
application. The next cycle will start after a waiting duration equal to 30% of the
last cycle execution duration.
Cyclic: use this mode if you want to control the cycle time.
Device Identification
Firmware Version:
Boot Version:
Coprocessor Version:
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What are the Effects of Cold/Warm Restart?
Refer to the effects of reset cold/warm section (see page 57).
Can I connect the PC (SoMachine) and the Controller through 499TWD01100 Ethernet Gateway?
No, because the Ethernet Gateway only supports Modbus protocol.
Can I connect several M238, through several USB ports of my PC?
No, because driver conflicts may occur.
Why the communication between the HMI and the controller is interrupted when making online
changes?
When online changes are made to a M238 application, the Symbol Configuration is
downloaded. This results in a temporary interruption of the communication.
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Appendices
Overview
This appendix lists the documents necessary for technical understanding of the
M238 Programming Guide.
What's in this Appendix?
The appendix contains the following chapters:
Chapter Chapter Name Page
A AS-Interface Library 183
B Function and Function Block Representation 201
C Functions to Get/Set Serial Line Configuration in User
Program
209
D Controller Performance 215
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A
AS-Interface Library
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Overview
This chapter describes the function blocks included in the IoDrvASI library.
Topic Page
ASI_CheckSlaveBit 184
ASI_CmdSetAutoAddressing 185
ASI_CmdSetDataExchange 187
ASI_CmdSetOfflineMode 189
ASI_MasterStatusCheck 191
ASI_SlaveAddressChange 193
ASI_SlaveParameterUpdate 195
ASI_SlaveStatusCheck 197
ASI_ReadParameterImage 199
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ASI_CheckSlaveBit
Function Description
This function returns the status bit of a specified AS-Interface slave from a specified
AS-Interface status table (LDS, LAS, or LPF).
This function is to be used in combination with ASI_SlaveStatusCheck
(see page 197) function block used to read LDS, LAS, and LPF status tables from
the AS-Interface master.
Graphical Representation
IL and ST Representation
To see the general representation in IL or ST language, refer to the chapter Function
and Function Block Representation (see page 201).
I/O Variables Description
The following table describes the input variables:
The following table describes the output variables:
The following table describes the input/output variables:
Input Type Comment
byAddress BYTE AS-Interface Slave address (bit offset 0 to 63).
0 = address 0
1...31 = address 1...31 for standard addressing mode,
or 1 A...31 A for extended addressing mode
32 = not used
33 to 63 = 1B...31B for extended addressing mode
Output Type Comment
ASI_CheckSlaveBit BOOL Returns the value of the bit at the
offset byAddress within the
abyStatusBytes array.
Input/Output Type Comment
abyStatusBytes ARRAY[0..7] OF BYTE AS-Interface status table (e.g.:
LDS, LAS, or LPF (see page 197))
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ASI_CmdSetAutoAddressing
This function blocks allows to activate or deactivate the auto-addressing mode. By
default, auto-addressing is set to the value that is configured in AS-Interface Master
module configuration window (see page 99).
Graphical Representation (LD/FBD)
Input Type Comment
xExecute BOOL Rising edge: action starts.
Falling edge: resets outputs. If a falling
edge occurs before the function block
has completed its action, the outputs
operate in the usual manner and are
only reset if either the action is
completed or in the event of an error
has been detected. In this case, the
corresponding output values
(xDone,xError, iError) are
present at the outputs for exactly one
cycle.
xAutoAddressingActive BOOL TRUE= enables auto-addressing mode.
FALSE= disables auto-addressing
mode.
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Output Type Comment
xDone BOOL TRUE if command terminated
successfully.
The value returned by the status flag
ASI_MasterStatusCheck.Auto
_Address_Assign is equal to the
command requested by
ASI_CmdSetAutoAddressing.x
AutoAddressingActive.
xBusy BOOL Function block active
xError BOOL TRUE: detected error, function block
aborts action
FALSE: no error has been detected
AsiDriver IoDrvAsi AS-Interface driver instance.
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ASI_CmdSetDataExchange
Description
This function enables or disables the data exchange between AS-Interface Master
and Slave Modules. The data exchange is active after reset.
Input Type Comment
Falling edge: resets outputs. If a
falling edge occurs before the
function block has completed its
action, the outputs operate in the
usual manner and are only reset if
either the action is completed or in
the event of an error has been
detected. In this case, the
present at the outputs for exactly
one cycle.
xDataExchangeActive BOOL TRUE= enables the data
exchange.
FALSE= disables the data
exchange.
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Output Type Comment
successfully.
xError BOOL TRUE: detected error, function
block aborts action
FALSE: no error has been
detected
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ASI_CmdSetOfflineMode
Description
This function block permits to set the AS-Interface Master Module in offline mode.
After a reset of the application, offline mode is disabled.
Input Type Comment
Falling edge: resets outputs. If a
falling edge occurs before the
function block has completed its
action, the outputs operate in the
usual manner and are only reset if
either the action is completed or in
the event of an error has been
detected. In this case, the
present at the outputs for exactly
one cycle.
xOfflineModeActive BOOL TRUE= enables offline mode.
FALSE= disables offline mode.
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The following table describes the input/output variable:
Output Type Comment
successfully.
The value returned by the status
flag
ASI_MasterStatusCheck.Auto
_Address_Assign is equal to the
command requested by
ASI_CmdSetAutoAddressing.x
AutoAddressingActive.
block aborts action
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ASI_MasterStatusCheck
Description
This function block returns the status of the AS-Interface Master Module.
The following table describes the input variable:
Input Type Comment
xEnable BOOL TRUE: action running
FALSE: action stopped. Outputs
xDone, xBusy,xError and
iError are reset.
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Output Type Comment
xDone BOOL Not used.
xError BOOL TRUE: an error has been
detected, function block aborts
action
detected
status WORD Status bits of AS-Interface master
in one WORD:
bit 0 to 7 = status[0]
bit 8 to 15 = status[1]
Config_OK BOOL Config OK (bit 0)
LDS_0 BOOL Address 0 Slave (bit 1)
Auto_Address_Assign BOOL Auto-addressing mode enabled
(bit 2)
Auto_Address_Available BOOL Auto-addressing will be processed
as soon as a slave with zero
address and valid configuration
data is connected (bit 3)
Configuration_Active BOOL Configuration mode active (bit 4)
Normal_Operation_Active BOOL Normal operation mode active (bit
5)
APF_or_not_APO BOOL Power outage (bit 6)
Offline_Ready BOOL Offline mode active (bit 7)
Periphery_OK BOOL No peripheral error detected (all
entries in LPF are 0) (bit 8)
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ASI_SlaveAddressChange
Description
This function block enables to change the address of an AS-Interface Slave Module.
Input Type Comment
Falling edge: resets outputs. If a falling edge occurs
before the function block has completed its action, the
outputs operate in the usual manner and are only reset
if either the action is completed or in the event of an
error has been detected. In this case, the
corresponding output values (xDone,
xError,eError) are present at the outputs for
exactly one cycle.
oldSlaveAddress BYTE Address of Slave to be readdressed
0 = address 0
32 = not used
33...63 = 1 B...31 B for extended addressing mode
newSlaveAddress BYTE New address of Slave
0 = address 0
32 = not used
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ERROR: Detected Error Codes
The ERROR enumeration data type contains the following values:
Output Type Comment
successfully.
block aborts action
detected
eError ERROR Contains the error code
Enumerator Value Description
NO_ERROR 00 hex No error detected
FIRST_ERROR 01 hex
TIME_OUT 02 hex Operation aborted on Time Out
ADDRESS_IN_USE 03 hex New slave address parameter already
assigned
INVALID_ADDRESS 04 hex Invalid old or new slave address parameter
NO_SLAVE 05 hex Old slave address parameter not assigned
INVALID_PARAMETER 06 hex
FIRST_MF 07 hex
LAST_ERROR 08 hex
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ASI_SlaveParameterUpdate
Description
This function block permits to set the parameters of an AS-Interface Slave Module.
Input Type Comment
Falling edge: resets outputs. If a falling edge occurs
before the function block has completed its action, the
outputs operate in the usual manner and are only reset
if either the action is completed or in the event of an
error has been detected. In this case, the
corresponding output values (xDone,
xError,eError) are present at the outputs for
exactly one cycle.
slaveAddress BYTE Address of the AS-Interface Slave.
0 = address 0
31 = not used
parameters BYTE New value of the Slave parameters (value from 00h to
0Fh).
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Output Type Comment
successfully.
block aborts action
detected
eError ERROR (see page 194) Contains the error code.
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ASI_SlaveStatusCheck
Description
This function block reads the local lists dedicated to AS-Interface Slave Modules:
detected slaves, activated slaves, and slaves reporting the detection of a peripheral
error.
The following table describes the input variable:
Input Type Comment
xEnable BOOL Enable execution.
Output Type Comment
xDone BOOL Not used
xError BOOL TRUE: an error has been detected,
function block aborts action
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LAS ARRAY[0..7] OF BYTE List of Activated Slaves (LAS): one bit
is set for each activated slave.
LAS[0] bit 0 = slave at address 0
LAS[0] bit 1 = slave at address 1A
...
LAS[3] bit 7 = slave at address 31A
LAS[4] bit 0 =not used
LAS[4] bit 1 =slave at address 1B
...
LAS[7] bit 7 =slave at address 31B
LDS ARRAY[0..7] OF BYTE List of Detected Slaves (LDS): one bit
is set for each slave that is detected
by the master.
LDS[0] bit 0 = slave at address 0
LDS[0] bit 1 = slave at address 1A
...
LDS[3] bit 7 = slave at address 31A
LDS[4] bit 0 =not used
LDS[4] bit 1 =slave at address 1B
...
LDS[7] bit 7 =slave at address 31B
LPF ARRAY[0..7] OF BYTE List of Peripheral errors (LPF): one bit
is set for each slave that has detected
a peripheral error.
LPF[0] bit 0 = slave at address 0
LPF[0] bit 1 = slave at address 1A
...
LPF[3] bit 7 = slave at address 31A
LPF[4] bit 0 =not used
LPF[4] bit 1 =slave at address 1B
...
LPF[7] bit 7 =slave at address 31B
Output Type Comment
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ASI_ReadParameterImage
Description
This function block allows to read and refresh the parameter image table.
Input Type Comment
Falling edge: resets outputs. If a falling edge
occurs before the function block has
completed its action, the outputs operate in
the usual manner and are only reset if either
the action is completed or in the event of an
error. In this case, the corresponding output
values (xDone, xError,iError) are
present at the outputs for exactly one cycle.
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Output Type Comment
xDone BOOL TRUE if command terminated successfully.
xError BOOL TRUE: an error has been detected, function
block aborts action
pPITable POINTER TO
ARRAY
[0..31] OF
BYTE
Parameter image: contains the actual copies
of the parameter output of all active slaves.
pPITable^[0] bit 0...3 = slave at address 0
pPITable^[0] bit 4...7 = slave at address 1A
...
pPITable^[15] bit 4...7 = slave at address
31A
pPITable^[16] bit 0...3 = not used
1B
...
31B
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B
Function and Function Block Representation
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Function and Function Block
Representation
Overview
Each function can be represented in the following languages:
IL: Instruction List
ST: Structured Text
LD: Ladder Diagram
FBD: Function Block Diagram
CFC: Continuous Function Chart
This chapter provides functions and function blocks representation examples and
explains how to use them for IL and ST languages.
Topic Page
Differences Between a Function and a Function Block 202
How to Use a Function or a Function Block in IL Language 203
How to Use a Function or a Function Block in ST Language 206
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Differences Between a Function and a Function Block
Function
A function:
is a POU (Program Organization Unit) that returns one immediate result
is directly called with its name (not through an Instance)
has no persistent state from one call to the other
can be used as an operand in other expressions
Examples: boolean operators (AND), calculations, conversion (BYTE_TO_INT)
Function Block
A function block:
is a POU (Program Organization Unit) that returns one or more outputs
is always called through an Instance (function block copy with dedicated name
and variables)
each Instance has a persistent state (outputs and internal variables) from one
call to the other
Examples: timers, counters
In the example below, Timer_ON is an instance of the Function Block TON:
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How to Use a Function or a Function Block in IL Language
General Information
This part explains how to implement a Function and a Function Block in IL language.
Functions IsFirstMastCycle and SetRTCDrift and Function Block TON are
used as examples to show implementations.
Using a Function in IL Language
The following procedure describes how to insert a function in IL language:
To illustrate the procedure, consider the Functions IsFirstMastCycle (without
input parameter) and SetRTCDrift (with input parameters) graphically presented
below:
Step Action
1 Open or create a new POU in Instruction List language.
NOTE: The procedure to create a POU is not detailed here. For more information, refer to the SoMachine
global help.
2 Create the variables that the function requires.
3 If the function has 1 or more inputs, start loading the first input using LD instruction.
4 Insert a new line below and:
type the name of the function in the operator column (left field), or
use the Input Assistant to select the function (select Insert Box in context menu).
5 If the function has more than 1 input and when Input Assistant is used, the necessary number of lines is
automatically created with ??? in the fields on the right. Replace the ??? with the appropriate value or
variable that corresponds to the order of inputs.
6 Insert a new line to store the result of the function into the appropriate variable: type ST instruction in the
operator column (left field) and the variable name in the field on the right.
Function Graphical Representation
without input parameter:
IsFirstMastCycle
with input parameters:
SetRTCDrift
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In IL language, the function name is used directly in the Operator Column:
Using a Function Block in IL language
The following procedure describes how to insert a function block in IL language:
Function Representation in SoMachine POU IL Editor
IL example of a function
without input parameter:
IsFirstMastCycle
IL example of a function
with input parameters:
SetRTCDrift
Step Action
1 Open or create a new POU in Instruction List language.
global help.
2 Create the variables that the function block requires, including the instance name.
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To illustrate the procedure, consider this example with the TON Function Block
graphically presented below:
In IL language, the function block name is used directly in the Operator Column:
3 Function Blocks are called using a CAL instruction:
Use the Input Assistant to select the FB (right-click and select Insert Box in context menu).
Automatically, the CAL instruction and the necessary I/O are created.
Each parameter (I/O) is an instruction:
Value to inputs are set by ":=".
Values to outputs are set by "=>".
4 In the CAL right-side field, replace ??? with the instance name.
5 Replace other ??? with an appropriate variable or immediate value.
Step Action
Function Block Graphical Representation
TON
Function Block Representation in SoMachine POU IL Editor
TON
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How to Use a Function or a Function Block in ST Language
General Information
This part explains how to implement a Function and a Function Block in ST
language.
Function SetRTCDrift and Function Block TON are used as examples to show
implementations.
Using a Function in ST Language
The following procedure describes how to insert a function in ST language:
To illustrate the procedure, consider the function SetRTCDrift graphically
presented below:
The ST language of this function is the following:
Step Action
1 Open or create a new POU in Structured Text language.
global help.
2 Create the variables that the function requires.
3 Use the general syntax in the POU ST Editor for the ST language of a function. The general syntax is:
FunctionResult:= FunctionName(VarInput1, VarInput2,.. VarInputx);
Function Graphical Representation
SetRTCDrift
Function Representation in SoMachine POU ST Editor
SetRTCDrift PROGRAM MyProgram_ST
VAR myDrift: SINT(-29..29) := 5;
myDay: DAY_OF_WEEK := SUNDAY;
myHour: HOUR := 12;
myMinute: MINUTE;
myRTCAdjust: RTCDRIFT_ERROR;
END_VAR
myRTCAdjust:= SetRTCDrift(myDrift, myDay, myHour, myMinute);
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Using a Function Block in ST Language
The following procedure describes how to insert a function block in ST language:
To illustrate the procedure, consider this example with the TON function block
graphically presented below:
Step Action
1 Open or create a new POU in Structured Text language.
global help.
2 Create the input and output variables and the instance required for the function block:
Input variables are the input parameters required by the function block
Output variables receive the value returned by the function block
3 Use the general syntax in the POU ST Editor for the ST language of a Function Block. The general syntax
is:
FunctionBlock_InstanceName(Input1:=VarInput1, Input2:=VarInput2,...
Ouput1=>VarOutput1, Ouput2=>VarOutput2,...);
Function Block Graphical Representation
TON
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The following table shows examples of a function block call in ST language:
Function Block Representation in SoMachine POU ST Editor
TON
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C
Functions to get/set serial line configuration in user program
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Functions to Get/Set Serial Line
Configuration in User Program
Overview
This section describes the functions to get/set the serial line configuration in your
program.
To use these functions, you must add the M2xx Communication library.
For further information on adding a library, refer to the SoMachine Programming
Guide (see SoMachine, Programming Guide).
Topic Page
GetSerialConf: Get the Serial Line Configuration 210
SetSerialConf: Change the Serial Line Configuration 211
SERIAL_CONF: Structure of the Serial Line Configuration Data Type 213
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GetSerialConf: Get the Serial Line Configuration
GetSerialConf returns the configuration parameters for a specific serial line
communication port.
Example
Refer to the SetSerialConf (see page 212) example.
Input Type Comment
Link LinkNumber Link is the communication port number.
PointerToSerialConf POINTER TO
SERIAL_CONF
(see page 213)
PointerToSerialConf is the address of the configuration
structure (variable of SERIAL_CONF type) in which the
configuration parameters are stored. The ADR standard function
must be used to define the associated pointer. (See the example
below.)
Output Type Comment
GetSerialConf WORD This function returns:
0: The configuration parameters are returned
255: The configuration parameters are not returned because:
the function was not successful
the function is in progress
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SetSerialConf: Change the Serial Line Configuration
SetSerialConf is used to change the serial line configuration.
NOTE: Changing the configuration of the Serial Line(s) port(s) during programming
execution can interrupt ongoing communications with other connected devices.
WARNING
LOSS OF CONTROL DUE TO UNEXPECTED CONFIGURATION CHANGE
Be sure to validate and test all the parameters of the SetSerialConf function
before putting your program into service.
equipment damage.
Input Type Comment
Link LinkNumber LinkNumber is the communication port number.
PointerToSerialConf POINTER TO
SERIAL_CONF
(see page 213)
PointerToSerialConf is the address of the configuration
structure (variable of SERIAL_CONF type) in which the new
configuration parameters are stored. The ADR standard function
must be used to define the associated pointer. (See the example
below.) If 0, set the application default configuration to the serial
line.
Output Type Comment
SetSerialConf WORD This function returns:
0: The new configuration is set
255: The new configuration is refused because:
the function is in progress
the input parameters are not valid
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Example
VAR
MySerialConf: SERIAL_CONF
result: WORD;
END_VAR

(*Get current configuration of serial line 1*)
GetSerialConf(1, ADR(MySerialConf));

(*Change to modbus RTU slave address 9*)
MySerialConf.Protocol := 0; (*Modbus RTU/Somachine
protocol (in this case CodesysCompliant selects the
protocol)*)
MySerialConf.CodesysCompliant := 0; (*Modbus RTU*)
MySerialConf.address := 9; (*Set modbus address to 9*)

(*Reconfigure the serial line 1*)
result := SetSerialConf(1, ADR(MySerialConf));
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SERIAL_CONF: Structure of the Serial Line Configuration Data Type
Structure Description
The SERIAL_CONF structure contains configuration information about the serial line
port. It contains these variables:
Variable Type Description
Bauds DWORD baud rate
InterframeDelay WORD minimum time (in ms) between 2 frames in Modbus (RTU, ASCII)
FrameReceivedTimeout WORD In the ASCII protocol, FrameReceivedTimeout allows the system to
conclude the end of a frame at reception after a silence of the specified
number of ms. If 0 this parameter is not used.
FrameLengthReceived WORD In the ASCII protocol, FrameLengthReceived allows the system to
conclude the end of a frame at reception, when the controller received
the specified number of characters. If 0, this parameter is not used.
Protocol BYTE 0: Modbus RTU or SoMachine (see CodesysCompliant)
1: Modbus ASCII
2: ASCII
Address BYTE Modbus address 0 to 255 (0 for Master)
Parity BYTE 0: none
1: odd
2: even
Rs485 BYTE 0: RS232
1: RS485
ModPol (polarizartion
resistor)
BYTE 0: no
1: yes
DataFormat BYTE 7 bits or 8 bits
StopBit BYTE 1: 1 stop bit
2: 2 stop bits
CharFrameStart BYTE In the ASCII protocol, 0 means there is no start character in the frame.
Otherwise, the corresponding ASCII character is used to detect the
beginning of a frame in receiving mode. In sending mode, this
character is added at the beginning of the user frame.
CharFrameEnd1 BYTE In the ASCII protocol, 0 means there is no second end character in the
frame. Otherwise, the corresponding ASCII character is used to detect
the end of a frame in receiving mode. In sending mode, this character
is added at the end of the user frame.
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CharFrameEnd2 BYTE In the ASCII protocol, 0 means there is no second end character in the
frame. Otherwise, the corresponding ASCII character is used (along
with CharFrameEnd1) to detect the end of a frame in receiving mode.
In sending mode, this character is added at the end of the user frame.
CodesysCompliant BYTE 0: Modbus RTU
1: SoMachine (when Protocol = 0)
CodesysNetType BYTE not used
Variable Type Description
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D
M238 - Controller Performance)
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Controller Performance
Modicon M238 Logic Controller Processing Performance
Introduction
This chapter provides information about the Modicon M238 Logic Controller
processing performance.
Logic Processing
The following table shows logic processing performance for various logical
instructions:
Basic System Time
The following table shows the basic overhead performance for each MAST cycle:
IL Instruction Type Duration for 1000 instructions
Addition/subtraction/multiplication of INT 439 s
Addition/subtraction/multiplication of DINT 506 s
Addition/subtraction/multiplication of REAL 5111 s
Division of REAL 7250 s
Operation on BOOLEAN, e.g. Status:= Status and
value
971 s
LD INT + ST INT 420 s
LD DINT + ST DINT 459 s
LD REAL + ST REAL 648 s
I/O type Overhead for each MAST cycle
Embedded Inputs & Internal Processing 700 s
Embedded Outputs 200 s
M238 - Controller Performance)
216 EIO0000000384 10/2010
HSC, PWM, PTO and Frequency Generator Processing
The following table shows the processing performance for complex functions for
each MAST cycle:
Communication and System Processing Time
The communication processing time varies, depending on the number of
sent/received requests.
Response Time on Event
The response time shown in the following table represents the time between a signal
rising edge on an input triggering an external task and the edge of an output set by
this task. The event task also process 100 IL instructions before setting the output:
Complex function type Overhead for each MAST cycle
HSC Simple 150 s
HSC Main 350 s
PWM 150 s
PTO Simple 200 s
Frequency Generator 150 s
Minimum Typical Maximum
750 s 950 s 1750 s
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Glossary
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Glossary
A
application source
The application source file can be uploaded to the PC to reopen a SoMachine
project. This source file can support a full SoMachine project (for example, one that
includes HMI application).
ARP
The address resolution protocol is the IP network layer protocol for Ethernet that
maps an IP address to a MAC (hardware) address.
ASCII
The american standard code for information interchange is a communication
protocol for representing alphanumeric characters (letters, numbers, and certain
graphic and control characters).
B
BOOTP
The bootstrap protocol is a UDP network protocol that can be used by a network
client to automatically obtain an IP address (and possibly other data) from a server.
The client identifies itself to the server using the clients MAC address. The server
which maintains a pre-configured table of client device MAC addresses and
associated IP addressessends the client its pre-configured IP address. BOOTP
was originally used as a method that enabled diskless hosts to be remotely booted
over a network. The BOOTP process assigns an infinite lease of an IP address. The
BOOTP service utilizes UDP ports 67 and 68.
Glossary
218 EIO0000000384 10/2010
C
CAN
The controller area network protocol (ISO 11898) for serial bus networks is designed
for the interconnection of smart devices (from multiple manufacturers) in smart
systems for real-time industrial applications. CAN multi-master systems ensure high
data integrity through the implementation of broadcast messaging and advanced
diagnostic mechanisms. Originally developed for use in automobiles, CAN is now
used in a variety of industrial automation control environments.
CANmotion
CANmotion is a CANopen-based motion bus with an additional mechanism that
provides synchronization between the motion controller and the drives.
CANopen
CANopen is an open industry-standard communication protocol and device profile
specification.
CFC
The continuous function chart (an extension of the IEC61131-3 standard) is a
graphical programming language that works like a flowchart. By adding simple
logicals blocks (AND, OR, etc.), each function or function block in the program is
represented in this graphical format. For each block, the inputs are on the left and
the outputs on the right. Block outputs can be linked to inputs of other blocks in order
to create complex expressions.
CiA
CAN in automation is a non-profit group of manufacturers and users dedicated to
developing and supporting CAN-based higher layer protocols.
CIP
When the common industrial protocol is implemented in a networks application
layer, it can communicate seamlessly with other CIP-based networks without regard
to the protocol. For example, the implementation of CIP in the application layer of an
Ethernet TCP/IP network creates an EtherNet/IP environment. Similarly, CIP in the
application layer of a CAN network creates a DeviceNet environment. In that case,
devices on the EtherNet/IP network can communicate with devices on the
DeviceNet network through CIP bridges or routers.
Glossary
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controller
A controller (or programmable logic controller, or programmable controller) is
used to automate industrial processes.
cyclic task
The cyclic scan time has a fixed duration (interval) specified by the user. If the
current scan time is shorter than the cyclic scan time, the controller waits until the
cyclic scan time has elapsed before starting a new scan.
D
data log
The controller logs events relative to the user application in a data log.
DHCP
The dynamic host configuration protocol is an advanced extension of BOOTP.
DHCP is a more advanced, but both DHCP and BOOTP are common. (DHCP can
handle BOOTP client requests.)
E
EEPROM
Electrically erasable programmable read-only memory is a type of non-volatile
memory used to store data that must be saved when power is removed.
EIA rack
An electronic industries alliance rack is a standardized (EIA 310-D, IEC 60297 and
DIN 41494 SC48D) system for mounting various electronic modules in a stack or
rack that is 19 inches (482.6 mm) wide.
EtherNet/IP
The ethernet industrial protocol is an open communications protocol for
manufacturing automation solutions in industrial systems. EtherNet/IP is in a family
of networks that implements Common Industrial Protocol at its upper layers. The
supporting organization (ODVA) specifies EtherNet/IP to accomplish global
adaptability and media independence.
Glossary
220 EIO0000000384 10/2010
expansion bus
The expansion bus is an electronic communication bus between expansion modules
and a CPU.
expansion I/O module
An expansion input or output module is either a digital or analog module that adds
additional I/O to the base controller.
expert I/O
Expert I/Os are dedicated modules or channels for advanced features. These
features are generally embedded in the module in order to not use the resources of
the PLC Controller and to allow a fast response time, depending of the feature.
Regarding the function, it could be considered as a stand alone module, because
the function is independent of the Controller processing cycle, it just exchanges
some information with the Controller CPU.
F
FAST I/O
FAST I/Os are specific I/Os with some electrical features (response time, for
example) but the treatment of these channels is done by the Controller CPU.
FB
A function block performs a specific automation function, such as speed control,
interval control, or counting. A function block comprises configuration data and a set
of operating parameters.
FBD
A function block diagram is a graphically oriented programming language, compliant
with IEC 61131-3. It works with a list of networks whereby each network contains a
graphical structure of boxes and connection lines which represents either a logical
or arithmetic expression, the call of a function block, a jump, or a return instruction.
FG
frequency generator
firmware
The firmware represents the operating system on a controller.
Glossary
EIO0000000384 10/2010 221
Flash Memory
Flash memory is nonvolatile memory that can be overwritten. It is stored on a special
EEPROM that can be erased and reprogrammed.
FTP
File transfer protocol is a standard network protocol (built on a client-server
architecture), to exchange and manipulate files over TCP/IP based networks.
function block
See FB.
function block diagram
See FBD.
G
GVL
The global variable list manages global variables that are available in every
application POU.
H
HSC
high-speed counter
I
ICMP
The internet control message protocol reports errors and provides information
related to datagram processing.
Glossary
222 EIO0000000384 10/2010
IEC 61131-3
The IEC 61131-3 is an international electrotechnical commission standard for
industrial automation equipment (like controllers). IEC 61131-3 deals with controller
programming languages and defines 2 graphical and 2 textual programming
language standards:
graphical: ladder diagram, function block diagram
textual: structured text, instruction list
IL
A program written in the instruction list language is composed of a series of
instructions executed sequentially by the controller. Each instruction includes a line
number, an instruction code, and an operand. (IL is IEC 61131-3 compliant.)
instruction list language
Refer to IL.
IP
The internet protocol is part of the TCP/IP protocol family that tracks the Internet
addresses of devices, routes outgoing messages, and recognizes incoming
messages.
IP 20
Ingress protection rating according to IEC 60529. IP20 modules are protected
against ingress and contact of objects larger than 12.5 mm. The module is not
protected against harmful ingress of water.
L
Ladder Diagram Language
See LD.
latching input
A latching input module interfaces with devices that transmit messages in short
pulses. Incoming pulses are captured and recorded for later examination by the
application.
Glossary
EIO0000000384 10/2010 223
LD
A program in the ladder diagram language includes a graphical representation of
instructions of a controller program with symbols for contacts, coils, and blocks in a
series of rungs executed sequentially by a controller. IEC 61131-3 compliant.
located variable
A located variable has an address. (See unlocated variable.)
M
MAC address
The media access control address is a unique 48-bit number associated with a
specific piece of hardware. The MAC address is programmed into each network
card or device when it is manufactured.
MAST
A master (MAST) task is a processor task that is run through its programming
software. The MAST task has two sections:
IN: Inputs are copied to the IN section before execution of the MAST task.
OUT: Outputs are copied to the OUT section after execution of the MAST task.
master/slave
The single direction of control in a network that implements the master/slave model
is always from a master device or process to one or more slave devices.
MIB
The management information base is an object database that is monitored by a
network management system like SNMP. SNMP monitors devices that are defined
by their MIBs. Schneider has obtained a private MIB, groupeschneider (3833).
Modbus
The Modbus communication protocol allows communications between many
devices connected to the same network.
Glossary
224 EIO0000000384 10/2010
N
NEMA
The national electrical manufacturers association publishes standards for the
performance of various classes of electrical enclosures. The NEMA standards cover
corrosion resistance, ability to protect from rain and submersion, etc. For IEC
member countries, the IEC 60529 standard classifies the ingress protection rating
for enclosures.
network
A network includes interconnected devices that share a common data path and
protocol for communications.
node
A node is an addressable device on a communication network.
O
ODVA
The open deviceNet vendors association supports the family of network
technologies that are built on CIP (EtherNet/IP, DeviceNet, and CompoNet).
OS
Operating system. Can be used for Firmware that can be uploaded/downloaded by
the user.
P
PDO
A process data object is transmitted as an unconfirmed broadcast message or sent
from a producer device to a consumer device in a CAN-based network. The transmit
PDO from the producer device has a specific identifier that corresponds to the
receive PDO of the consumer devices.
Glossary
EIO0000000384 10/2010 225
periodic execution
The master task is executed either cyclically or periodically. In periodic mode, you
determine a specific time (period) in which the master task must be executed. If it is
executed under this time, a waiting time is generated before the next cycle. If it is
executed over this time, a control system indicates the overrun. If the overrun is too
high, the controller is stopped.
persistent data
Value of persistent data that will be used at next application change or cold start.
Only get re-initialized at a reboot of the controller or reset origin. Especially they
maintain their values after a download.
PLCopen
The PLCopen standard brings efficiency, flexibility, and manufacturer independence
to the automation and control industry through the standardization of tools, libraries,
and modular approaches to software programming.
post configuration
Post-configuration files contain machine-independent parameters, including:
machine name
device name or IP address
Modbus serial line address
routing table
POU
A program organization unit includes a variable declaration in source code and the
corresponding instruction set. POUs facilitate the modular reuse of software
programs, functions, and function blocks. Once declared, POUs are available to one
another. SoMachine programming requires the utilization of POUs.
protocol
A protocol is a convention or standard that controls or enables the connection,
communication, and data transfer between two computing endpoints.
PTO
Pulse train outputs are used to control for instance stepper motors in open loop.
Glossary
226 EIO0000000384 10/2010
PWM
Pulse width modulation is used for regulation processes (e.g. actuators for
temperature control) where a pulse signal is modulated in its length. For these kind
of signals, transistor outputs are used.
R
real-time clock (RTC)
See RTC
reflex output
In a counting mode, the high speed counters current value is measured against its
configured thresholds to determine the state of these dedicated outputs.
retained data
A retained data value is used in the next power-on or warm start. The value is
retained even after an uncontrolled shutdown of the controller or a normal switch-off
of the controller.
RFID
Radio-frequency identification is an automatic identification method that relies on
the storage and remote retrieval of data using RFID tags or transponders.
RPDO
A receive PDO sends data to a device in a CAN-based network.
RTC
The real-time clock option keeps the time for a limited amount of time even when the
controller is not powered.
S
scan
A controllers scanning program performs 3 basic functions: [1] It reads inputs and
places these values in memory; [2] it executes the application program 1 instruction
at a time and stores results in memory; [3] It uses the results to update outputs.
Glossary
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SDO
A service data object message is used by the fieldbus master to access (read/write)
the object directories of network nodes in CAN-based networks. SDO types include
service SDOs (SSDOs) and client SDOs (CSDOs).
sequential function chart
See SFC.
SFC
A program written in the sequential function chart language can be used for
processes that can be split into steps. SFC is composed of steps with associated
actions, transitions with associated logic condition, and directed links between steps
and transitions. (The SFC standard is defined in IEC 848. It is IEC 61131-3
compliant.)
SNMP
The simple network management protocol can control a network remotely by polling
the devices for their status, performing security tests, and viewing information
relating to data transmission. It can also be used to manage software and databases
remotely. The protocol also permits active management tasks, such as modifying
and applying a new configuration
Structured Text
A program written in the structured text (ST) language includes complex statements
and nested instructions (such as iteration loops, conditional executions, or
functions). ST is compliant with IEC 61131-3.
symbol
A symbol is a string of a maximum of 32 alphanumeric characters, of which the first
character is alphabetic. It allows you to personalize a controller object to facilitate
the maintainability of the application.
system variable
A system variable structure provides controller data and diagnostic information and
allows sending commands to the controller.
Glossary
228 EIO0000000384 10/2010
T
task
A group of sections and subroutines, executed cyclically or periodically for the MAST
task, or periodically for the FAST task.
A task possesses a level of priority and is linked to inputs and outputs of the
controller. These I/O are refreshed in consequence.
A controller can have several tasks.
TCP
A transmission control protocol is a connection-based transport layer protocol that
provides a reliable simultaneous bi-directional transmission of data. TCP is part of
the TCP/IP protocol suite.
threshold output
Threshold outputs are controlled directly by the HSC according to the settings
established during configuration.
TPDO
A transmit PDO reads data from a device in a CAN-based system.
U
UDP
The user datagram protocol is a connectionless mode protocol (defined by
IETF RFC 768) in which messages are delivered in a datagram (data telegram) to a
destination computer on an IP network. The UDP protocol is typically bundled with
the Internet Protocol. UDP/IP messages do not expect a response, and are
therefore ideal for applications in which dropped packets do not require
retransmission (such as streaming video and networks that demand real-time
performance).
unlocated variable
An unlocated variable does not have an address. (See located variable.)
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C
B
A
Index
EIO0000000384 10/2010
Index
A
ASI_CheckSlaveBit, 184
ASI_CmdSetAutoAddressing, 185
ASI_CmdSetOfflineMode, 189
ASI_MasterStatusCheck, 191
ASI_ReadParameterImage, 199
ASI_SlaveAddressChange, 193
ASI_SlaveParameterUpdate, 195
ASI_SlaveStatusCheck, 197
ASI_CmdSetDataExchange, 187
AS-Interface V2 Fieldbus
Add a Slave with Scan Devices, 104
Add an AS-Interface Slave, 101
Add an Slave With Catalog, 101
Add AS-Interface Module, 93
Automatic Slave Addressing, 112
Configure an AS-Interface Master, 97
Configure an AS-Interface Slave, 108
Diagnostic, 115
General Functional Description, 89
Inoperative Slave, 120
Manually Add a Generic Slave, 106
Modification of Slave Address, 113
Presentation, 88
Programming, 118
Software Setup Principle, 92
C
Access Controller Configuration, 66
Applications, 67
PLC Settings, 68
Services, 70
D
Download application, 61
E
Embedded Functions Configuration
Embedded HSC Configuration, 72
Embedded I/O Configuration, 74
Embedded PTO_PWM Configuration, 78
Ethernet Gateway Configuration
Connection and Configuration of the
Ethernet Gateway, 145
Expansion Module
Adding Expansion Module, 81
Configure Expansion Module, 81
F
FAQ, 178
features
key features, 13
Index
230 EIO0000000384 10/2010
Firmware Update
ExecLoader Introduction, 161
File and Device Properties, 165
Settings, 163
Transfer Progress, 167
Update Through Serial Link, 156
Update Through USB, 159
Welcome, 162
Functions
Differences Between a Function and a
Function Block, 202
How to Use a Function or a Function
Block in IL Language, 203
How to Use a Function or a Function
Block in ST Language, 206
G
GetSerialConf, 210
L
libraries, 19
M
main features, 13
Memory Mapping, 23
O
overview, 13
P
programming languages
IL, ST, FBD, SFC, LD, CFC, 13
R
Reboot, 60
Remanent variables, 63
Reset cold, 58
Reset origin, 59
Reset warm, 58
Run command, 57
S
Serial Line
Serial Line Configuration, 122
SERIAL_CONF, 213
SetSerialConf, 211
State diagram, 46
Stop command, 57
T
Task
Cyclic task, 38
Event task, 39
External Event Task, 40
Freewheeling task, 39
Types, 38
Watchdogs, 41
Troubleshooting, 170

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